2025-09-19T23:50:24.039Z,1758325824.039 [lineCaptureHoming:BA.Execute] Stopped
2025-09-19T23:50:24.039Z,1758325824.039 [lineCaptureHoming:InitialDive] Running Loop=1
2025-09-19T23:50:24.039Z,1758325824.039 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-09-19T23:50:24.039Z,1758325824.039 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-09-19T23:50:24.039Z,1758325824.039 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-09-19T23:50:24.039Z,1758325824.039 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-09-19T23:50:24.039Z,1758325824.039 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-09-19T23:50:24.060Z,1758325824.060 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-09-19T23:50:24.060Z,1758325824.060 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-09-19T23:50:24.061Z,1758325824.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:50:24.069Z,1758325824.069 [CommandExec](IMPORTANT): got command restart logs
2025-09-19T23:50:24.277Z,1758325824.277 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:50:24.277Z,1758325824.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:50:24.520Z,1758325824.520 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-09-19T23:50:24.521Z,1758325824.521 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-09-19T23:50:24.529Z,1758325824.529 [DAT](INFO): DAT read: user:558>

2025-09-19T23:50:24.530Z,1758325824.530 [DAT](INFO): DAT read: Tx time:23:50:25.8632

2025-09-19T23:50:24.530Z,1758325824.530 [DAT](INFO): Ping request sent.
2025-09-19T23:50:24.530Z,1758325824.530 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:50:24.530Z,1758325824.530 [DAT](INFO): publishing transmit ping time
2025-09-19T23:50:24.531Z,1758325824.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-09-19T23:50:24.781Z,1758325824.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250980
2025-09-19T23:50:25.033Z,1758325825.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503313
2025-09-19T23:50:25.285Z,1758325825.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754947
2025-09-19T23:50:25.537Z,1758325825.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006974
2025-09-19T23:50:25.789Z,1758325825.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259025
2025-09-19T23:50:26.041Z,1758325826.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510766
2025-09-19T23:50:26.293Z,1758325826.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762961
2025-09-19T23:50:26.545Z,1758325826.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014973
2025-09-19T23:50:26.797Z,1758325826.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266942
2025-09-19T23:50:27.049Z,1758325827.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519219
2025-09-19T23:50:27.301Z,1758325827.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770954
2025-09-19T23:50:27.553Z,1758325827.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022961
2025-09-19T23:50:27.805Z,1758325827.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275033
2025-09-19T23:50:28.057Z,1758325828.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527043
2025-09-19T23:50:28.309Z,1758325828.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779030
2025-09-19T23:50:28.561Z,1758325828.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030913
2025-09-19T23:50:28.813Z,1758325828.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283064
2025-09-19T23:50:29.068Z,1758325829.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537690
2025-09-19T23:50:29.317Z,1758325829.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787048
2025-09-19T23:50:29.569Z,1758325829.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038994
2025-09-19T23:50:29.821Z,1758325829.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291072
2025-09-19T23:50:30.073Z,1758325830.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542980
2025-09-19T23:50:30.325Z,1758325830.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795013
2025-09-19T23:50:30.578Z,1758325830.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047615
2025-09-19T23:50:30.829Z,1758325830.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299219
2025-09-19T23:50:31.085Z,1758325831.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554346
2025-09-19T23:50:31.333Z,1758325831.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803123
2025-09-19T23:50:31.585Z,1758325831.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055007
2025-09-19T23:50:31.837Z,1758325831.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307017
2025-09-19T23:50:32.024Z,1758325832.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:50:32.089Z,1758325832.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558771
2025-09-19T23:50:32.341Z,1758325832.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811255
2025-09-19T23:50:32.593Z,1758325832.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063454
2025-09-19T23:50:32.845Z,1758325832.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315000
2025-09-19T23:50:33.097Z,1758325833.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566949
2025-09-19T23:50:33.349Z,1758325833.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819059
2025-09-19T23:50:33.601Z,1758325833.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070954
2025-09-19T23:50:33.853Z,1758325833.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322976
2025-09-19T23:50:34.107Z,1758325834.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576652
2025-09-19T23:50:34.357Z,1758325834.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826969
2025-09-19T23:50:34.609Z,1758325834.609 [DAT](INFO): Reached modem response timeout
2025-09-19T23:50:36.881Z,1758325836.881 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:50:36.881Z,1758325836.881 [DAT](INFO): response not received
2025-09-19T23:50:36.882Z,1758325836.882 [DAT](ERROR): No response from remote modem.
2025-09-19T23:50:45.512Z,1758325845.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:50:54.952Z,1758325854.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:50:55.251Z,1758325855.251 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-19T23:51:01.320Z,1758325861.320 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-09-19T23:51:01.768Z,1758325861.768 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position -0.97 mm (2 active estimators).
2025-09-19T23:51:24.436Z,1758325884.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:51:24.553Z,1758325884.553 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:51:24.553Z,1758325884.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:51:24.805Z,1758325884.805 [DAT](INFO): DAT read: user:559>

2025-09-19T23:51:24.806Z,1758325884.806 [DAT](INFO): DAT read: Tx time:23:51:26.1131

2025-09-19T23:51:24.806Z,1758325884.806 [DAT](INFO): Ping request sent.
2025-09-19T23:51:24.806Z,1758325884.806 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:51:24.806Z,1758325884.806 [DAT](INFO): publishing transmit ping time
2025-09-19T23:51:24.807Z,1758325884.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-09-19T23:51:25.057Z,1758325885.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834
2025-09-19T23:51:25.309Z,1758325885.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503281
2025-09-19T23:51:25.561Z,1758325885.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754976
2025-09-19T23:51:25.813Z,1758325885.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006798
2025-09-19T23:51:26.065Z,1758325886.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259183
2025-09-19T23:51:26.317Z,1758325886.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510890
2025-09-19T23:51:26.569Z,1758325886.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763179
2025-09-19T23:51:26.640Z,1758325886.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:51:26.821Z,1758325886.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014788
2025-09-19T23:51:27.073Z,1758325887.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266938
2025-09-19T23:51:27.325Z,1758325887.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518938
2025-09-19T23:51:27.577Z,1758325887.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771205
2025-09-19T23:51:27.829Z,1758325887.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022931
2025-09-19T23:51:28.081Z,1758325888.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274865
2025-09-19T23:51:28.337Z,1758325888.337 [DAT](INFO): DAT read: Rx Time:23:51:29.1065

2025-09-19T23:51:28.338Z,1758325888.338 [DAT](INFO): Rx dataTimestamp_ set to:1758325888.337552
2025-09-19T23:51:28.339Z,1758325888.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532956
2025-09-19T23:51:28.585Z,1758325888.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778959
2025-09-19T23:51:28.867Z,1758325888.867 [DAT](INFO): DAT read: 23:51:29.1065 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 163,-0.44,-0.889,-0.973,-2.671,-1.143, PHS= 0.355, 0.214,-1.572, RAW=  33.8,  10.8, CAL=  32.0,  11.5, ROT= 118.0, -11.5

2025-09-19T23:51:28.874Z,1758325888.874 [DAT](INFO): got valid direction response:
 23:51:29.1065 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 163,-0.44,-0.889,-0.973,-2.671,-1.143, PHS= 0.355, 0.214,-1.572, RAW=  33.8,  10.8, CAL=  32.0,  11.5, ROT= 118.0, -11.5

2025-09-19T23:51:28.874Z,1758325888.874 [DAT](INFO): DAT read: $Error in header

2025-09-19T23:51:28.875Z,1758325888.875 [DAT](INFO): Received a bad header
2025-09-19T23:51:28.888Z,1758325888.888 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-19T23:51:28.890Z,1758325888.890 [DAT](INFO): direction in FSK: [-0.460047,0.865222,0.199368]
2025-09-19T23:51:34.905Z,1758325894.905 [DAT](INFO): Reached modem response timeout
2025-09-19T23:51:37.173Z,1758325897.173 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:51:37.173Z,1758325897.173 [DAT](INFO): response not received
2025-09-19T23:51:37.173Z,1758325897.173 [DAT](ERROR): No response from remote modem.
2025-09-19T23:51:54.753Z,1758325914.753 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.803787
2025-09-19T23:51:55.074Z,1758325915.074 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-09-19T23:51:55.074Z,1758325915.074 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-09-19T23:51:55.075Z,1758325915.075 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-09-19T23:51:55.075Z,1758325915.075 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-19T23:51:55.075Z,1758325915.075 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-09-19T23:51:55.757Z,1758325915.757 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:52:02.316Z,1758325922.316 [Radio_Surface](INFO): Powering down
2025-09-19T23:52:24.566Z,1758325944.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:52:24.597Z,1758325944.597 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:52:24.598Z,1758325944.598 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:52:24.849Z,1758325944.849 [DAT](INFO): DAT read: 

2025-09-19T23:52:24.849Z,1758325944.849 [DAT](INFO): DAT read: Tx time:23:52:26.1629

2025-09-19T23:52:24.850Z,1758325944.850 [DAT](INFO): Ping request sent.
2025-09-19T23:52:24.850Z,1758325944.850 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:52:24.850Z,1758325944.850 [DAT](INFO): publishing transmit ping time
2025-09-19T23:52:24.850Z,1758325944.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-09-19T23:52:25.101Z,1758325945.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251137
2025-09-19T23:52:25.353Z,1758325945.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503163
2025-09-19T23:52:25.605Z,1758325945.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755179
2025-09-19T23:52:25.857Z,1758325945.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007606
2025-09-19T23:52:25.880Z,1758325945.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:52:26.113Z,1758325946.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263248
2025-09-19T23:52:26.365Z,1758325946.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515110
2025-09-19T23:52:26.570Z,1758325946.570 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-19T23:52:26.617Z,1758325946.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767527
2025-09-19T23:52:26.869Z,1758325946.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019176
2025-09-19T23:52:26.884Z,1758325946.884 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-19T23:52:26.884Z,1758325946.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:52:27.121Z,1758325947.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271189
2025-09-19T23:52:27.373Z,1758325947.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523017
2025-09-19T23:52:27.625Z,1758325947.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775282
2025-09-19T23:52:27.878Z,1758325947.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027938
2025-09-19T23:52:28.132Z,1758325948.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281767
2025-09-19T23:52:28.381Z,1758325948.381 [DAT](INFO): DAT read: Rx Time:23:52:29.1597

2025-09-19T23:52:28.381Z,1758325948.381 [DAT](INFO): Rx dataTimestamp_ set to:1758325948.381081
2025-09-19T23:52:28.382Z,1758325948.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532175
2025-09-19T23:52:28.633Z,1758325948.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783081
2025-09-19T23:52:28.890Z,1758325948.890 [DAT](INFO): DAT read: 23:52:29.1597 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 481,-0.43, 2.881, 1.360, 1.911, 1.848, PHS= 1.135,-0.444, 0.018, RAW= 106.5, -10.1, CAL= 106.0, -11.0, ROT=  44.0,  11.0

2025-09-19T23:52:28.891Z,1758325948.891 [DAT](INFO): got valid direction response:
 23:52:29.1597 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 481,-0.43, 2.881, 1.360, 1.911, 1.848, PHS= 1.135,-0.444, 0.018, RAW= 106.5, -10.1, CAL= 106.0, -11.0, ROT=  44.0,  11.0

2025-09-19T23:52:28.893Z,1758325948.893 [DAT](INFO): DAT read: Bearing 352.7,  71.4 (Local)

2025-09-19T23:52:28.893Z,1758325948.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.7,  71.4 (Local)

2025-09-19T23:52:28.895Z,1758325948.895 [DAT](INFO): DAT read: Range 11 to 50 : 444.4 m  (Round-trip  592.6 ms) speed  0.4 m/s

2025-09-19T23:52:28.895Z,1758325948.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:52:28.896Z,1758325948.896 [DAT](INFO): direction in FSK: [0.706124,0.681896,-0.190809]
2025-09-19T23:52:28.897Z,1758325948.897 [DAT](INFO): publishing direction and range info
2025-09-19T23:52:57.012Z,1758325977.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:52:58.016Z,1758325978.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:53:24.693Z,1758326004.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:24.889Z,1758326004.889 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:24.889Z,1758326004.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:53:25.149Z,1758326005.149 [DAT](INFO): DAT read: user:561>

2025-09-19T23:53:25.150Z,1758326005.150 [DAT](INFO): DAT read: Tx time:23:53:26.4628

2025-09-19T23:53:25.151Z,1758326005.151 [DAT](INFO): Ping request sent.
2025-09-19T23:53:25.151Z,1758326005.151 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:53:25.151Z,1758326005.151 [DAT](INFO): publishing transmit ping time
2025-09-19T23:53:25.152Z,1758326005.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001300
2025-09-19T23:53:25.393Z,1758326005.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241960
2025-09-19T23:53:25.645Z,1758326005.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494005
2025-09-19T23:53:25.897Z,1758326005.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746082
2025-09-19T23:53:26.149Z,1758326006.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998035
2025-09-19T23:53:26.403Z,1758326006.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251947
2025-09-19T23:53:26.653Z,1758326006.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502281
2025-09-19T23:53:26.905Z,1758326006.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754033
2025-09-19T23:53:27.159Z,1758326007.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007823
2025-09-19T23:53:27.409Z,1758326007.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258163
2025-09-19T23:53:27.661Z,1758326007.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510000
2025-09-19T23:53:27.913Z,1758326007.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762044
2025-09-19T23:53:28.140Z,1758326008.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:53:28.165Z,1758326008.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014461
2025-09-19T23:53:28.418Z,1758326008.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266691
2025-09-19T23:53:28.669Z,1758326008.669 [DAT](INFO): DAT read: Rx Time:23:53:29.4175

2025-09-19T23:53:28.669Z,1758326008.669 [DAT](INFO): Rx dataTimestamp_ set to:1758326008.669067
2025-09-19T23:53:28.670Z,1758326008.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519034
2025-09-19T23:53:28.749Z,1758326008.749 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-09-19T23:53:28.750Z,1758326008.750 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-09-19T23:53:28.750Z,1758326008.750 [lineCaptureHoming:InitialDive] Stopped
2025-09-19T23:53:28.750Z,1758326008.750 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-09-19T23:53:28.750Z,1758326008.750 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-09-19T23:53:28.751Z,1758326008.751 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-09-19T23:53:28.751Z,1758326008.751 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-09-19T23:53:28.751Z,1758326008.751 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-09-19T23:53:28.751Z,1758326008.751 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-09-19T23:53:28.751Z,1758326008.751 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-09-19T23:53:28.751Z,1758326008.751 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-09-19T23:53:28.921Z,1758326008.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770542
2025-09-19T23:53:29.144Z,1758326009.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:53:29.178Z,1758326009.178 [DAT](INFO): DAT read: 23:53:29.4175 LVL= 32752, 32753, 22002, 32755, AGC= 74, IDX=  18,-0.00, 2.808, 1.922,-2.106,-3.066, PHS=-0.308,-1.251, 0.916, RAW= 184.3,   6.9, CAL= 184.2,   6.5, ROT= 325.8,  -6.5

2025-09-19T23:53:29.179Z,1758326009.179 [DAT](INFO): got valid direction response:
 23:53:29.4175 LVL= 32752, 32753, 22002, 32755, AGC= 74, IDX=  18,-0.00, 2.808, 1.922,-2.106,-3.066, PHS=-0.308,-1.251, 0.916, RAW= 184.3,   6.9, CAL= 184.2,   6.5, ROT= 325.8,  -6.5

2025-09-19T23:53:29.181Z,1758326009.181 [DAT](INFO): DAT read: Bearing 117.4, -23.6 (Local)

2025-09-19T23:53:29.181Z,1758326009.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 117.4, -23.6 (Local)

2025-09-19T23:53:29.182Z,1758326009.182 [DAT](INFO): DAT read: Range 11 to 50 : 412.8 m  (Round-trip  550.5 ms) speed  0.4 m/s

2025-09-19T23:53:29.183Z,1758326009.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:53:29.187Z,1758326009.187 [DAT](INFO): direction in FSK: [0.821764,-0.558470,0.113203]
2025-09-19T23:53:29.188Z,1758326009.188 [DAT](INFO): publishing direction and range info
2025-09-19T23:53:29.193Z,1758326009.193 [lineCaptureHoming:RepeatHack] Stopped
2025-09-19T23:53:29.193Z,1758326009.193 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-09-19T23:53:29.193Z,1758326009.193 [lineCaptureHoming:RepeatHack:A] Stopped
2025-09-19T23:53:29.194Z,1758326009.194 [lineCaptureHoming:Lap] Running Loop=1
2025-09-19T23:53:29.194Z,1758326009.194 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-09-19T23:53:29.194Z,1758326009.194 [lineCaptureHoming:Lap:A] Running Loop=1
2025-09-19T23:53:29.543Z,1758326009.543 [lineCaptureHoming:Lap:A] Stopped
2025-09-19T23:53:29.543Z,1758326009.543 [lineCaptureHoming:Lap:B] Running Loop=1
2025-09-19T23:53:29.543Z,1758326009.543 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-09-19T23:53:29.967Z,1758326009.967 [lineCaptureHoming:LineCapture] Running Loop=1
2025-09-19T23:53:29.967Z,1758326009.967 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-09-19T23:53:29.967Z,1758326009.967 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-09-19T23:53:29.968Z,1758326009.968 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-09-19T23:53:29.968Z,1758326009.968 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-19T23:53:29.968Z,1758326009.968 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-19T23:53:29.968Z,1758326009.968 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-19T23:53:29.968Z,1758326009.968 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-19T23:53:29.968Z,1758326009.968 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-19T23:53:29.968Z,1758326009.968 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-19T23:53:29.969Z,1758326009.969 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-09-19T23:53:29.970Z,1758326009.970 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-09-19T23:53:29.970Z,1758326009.970 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-09-19T23:53:29.970Z,1758326009.970 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-09-19T23:53:29.970Z,1758326009.970 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-09-19T23:53:29.970Z,1758326009.970 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-09-19T23:53:29.971Z,1758326009.971 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-09-19T23:53:29.971Z,1758326009.971 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-09-19T23:53:29.971Z,1758326009.971 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-09-19T23:53:29.971Z,1758326009.971 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-19T23:53:29.972Z,1758326009.972 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-19T23:53:29.972Z,1758326009.972 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-19T23:53:29.973Z,1758326009.973 [lineCaptureHoming:LineCapture:A] Stopped
2025-09-19T23:53:29.973Z,1758326009.973 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-09-19T23:53:30.347Z,1758326010.347 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-09-19T23:53:30.347Z,1758326010.347 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-19T23:53:30.347Z,1758326010.347 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-09-19T23:53:30.361Z,1758326010.361 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 412.799988 m (mode  0.000000 count ).
2025-09-19T23:53:30.361Z,1758326010.361 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-09-19T23:53:30.361Z,1758326010.361 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-09-19T23:53:30.368Z,1758326010.368 [lineCaptureHoming:LineCapture:B] Stopped
2025-09-19T23:53:30.368Z,1758326010.368 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-09-19T23:53:30.760Z,1758326010.760 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-09-19T23:53:30.760Z,1758326010.760 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-09-19T23:53:30.761Z,1758326010.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:30.763Z,1758326010.763 [lineCaptureHoming:LineCapture:D] Stopped
2025-09-19T23:53:30.763Z,1758326010.763 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-09-19T23:53:30.937Z,1758326010.937 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:53:30.937Z,1758326010.937 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:53:30.937Z,1758326010.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:53:31.189Z,1758326011.189 [DAT](INFO): DAT read: user:562>

2025-09-19T23:53:31.190Z,1758326011.190 [DAT](INFO): DAT read: Tx time:23:53:32.5128

2025-09-19T23:53:31.190Z,1758326011.190 [DAT](INFO): Ping request sent.
2025-09-19T23:53:31.190Z,1758326011.190 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:53:31.190Z,1758326011.190 [DAT](INFO): publishing transmit ping time
2025-09-19T23:53:31.191Z,1758326011.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000717
2025-09-19T23:53:31.197Z,1758326011.197 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-09-19T23:53:31.197Z,1758326011.197 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-09-19T23:53:31.199Z,1758326011.199 [lineCaptureHoming:LineCapture:E] Stopped
2025-09-19T23:53:31.199Z,1758326011.199 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-09-19T23:53:31.441Z,1758326011.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772
2025-09-19T23:53:31.575Z,1758326011.575 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-09-19T23:53:31.575Z,1758326011.575 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-19T23:53:31.575Z,1758326011.575 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-09-19T23:53:31.575Z,1758326011.575 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-19T23:53:31.577Z,1758326011.577 [lineCaptureHoming:LineCapture:F] Stopped
2025-09-19T23:53:31.578Z,1758326011.578 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-09-19T23:53:31.578Z,1758326011.578 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-09-19T23:53:31.578Z,1758326011.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-09-19T23:53:31.578Z,1758326011.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-19T23:53:31.578Z,1758326011.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-09-19T23:53:31.578Z,1758326011.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-19T23:53:31.578Z,1758326011.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-09-19T23:53:31.578Z,1758326011.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-09-19T23:53:31.579Z,1758326011.579 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-09-19T23:53:31.579Z,1758326011.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-19T23:53:31.579Z,1758326011.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-19T23:53:31.579Z,1758326011.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-09-19T23:53:31.579Z,1758326011.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-19T23:53:31.579Z,1758326011.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-19T23:53:31.579Z,1758326011.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-09-19T23:53:31.579Z,1758326011.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-19T23:53:31.580Z,1758326011.580 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-09-19T23:53:31.580Z,1758326011.580 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-09-19T23:53:31.580Z,1758326011.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-19T23:53:31.580Z,1758326011.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-19T23:53:31.580Z,1758326011.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-09-19T23:53:31.580Z,1758326011.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-19T23:53:31.581Z,1758326011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-19T23:53:31.582Z,1758326011.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-09-19T23:53:31.693Z,1758326011.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502819
2025-09-19T23:53:31.945Z,1758326011.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754871
2025-09-19T23:53:32.014Z,1758326012.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-09-19T23:53:32.014Z,1758326012.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-19T23:53:32.014Z,1758326012.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-09-19T23:53:32.015Z,1758326012.015 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-19T23:53:32.016Z,1758326012.016 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-09-19T23:53:32.016Z,1758326012.016 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-19T23:53:32.016Z,1758326012.016 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-09-19T23:53:32.016Z,1758326012.016 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-09-19T23:53:32.016Z,1758326012.016 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-09-19T23:53:32.016Z,1758326012.016 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-09-19T23:53:32.016Z,1758326012.016 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-09-19T23:53:32.016Z,1758326012.016 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-09-19T23:53:32.017Z,1758326012.017 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-09-19T23:53:32.017Z,1758326012.017 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.416523 m.
2025-09-19T23:53:32.197Z,1758326012.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006810
2025-09-19T23:53:32.449Z,1758326012.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258757
2025-09-19T23:53:32.701Z,1758326012.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510746
2025-09-19T23:53:32.777Z,1758326012.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:32.829Z,1758326012.829 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-19T23:53:32.949Z,1758326012.949 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-19T23:53:32.953Z,1758326012.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762895
2025-09-19T23:53:33.205Z,1758326013.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014861
2025-09-19T23:53:33.457Z,1758326013.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267025
2025-09-19T23:53:33.709Z,1758326013.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518785
2025-09-19T23:53:33.963Z,1758326013.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772389
2025-09-19T23:53:34.213Z,1758326014.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022779
2025-09-19T23:53:34.465Z,1758326014.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274895
2025-09-19T23:53:34.717Z,1758326014.717 [DAT](INFO): DAT read: Rx Time:23:53:35.4635

2025-09-19T23:53:34.718Z,1758326014.718 [DAT](INFO): Rx dataTimestamp_ set to:1758326014.717230
2025-09-19T23:53:34.718Z,1758326014.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527962
2025-09-19T23:53:34.866Z,1758326014.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:34.973Z,1758326014.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782768
2025-09-19T23:53:35.226Z,1758326015.226 [DAT](INFO): DAT read: 23:53:35.4635 LVL= 31584, 32753, 22002, 32755, AGC= 73, IDX= 394,-0.24,-2.694, 2.740,-1.078,-2.137, PHS=-0.454,-1.361, 1.015, RAW= 187.8,   7.8, CAL= 187.8,   7.8, ROT= 322.2,  -7.8

2025-09-19T23:53:35.227Z,1758326015.227 [DAT](INFO): got valid direction response:
 23:53:35.4635 LVL= 31584, 32753, 22002, 32755, AGC= 73, IDX= 394,-0.24,-2.694, 2.740,-1.078,-2.137, PHS=-0.454,-1.361, 1.015, RAW= 187.8,   7.8, CAL= 187.8,   7.8, ROT= 322.2,  -7.8

2025-09-19T23:53:35.229Z,1758326015.229 [DAT](INFO): DAT read: Bearing 126.7, -32.7 (Local)

2025-09-19T23:53:35.229Z,1758326015.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 126.7, -32.7 (Local)

2025-09-19T23:53:35.230Z,1758326015.230 [DAT](INFO): DAT read: Range 11 to 50 : 409.8 m  (Round-trip  546.5 ms) speed  0.3 m/s

2025-09-19T23:53:35.231Z,1758326015.231 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:53:35.240Z,1758326015.240 [DAT](INFO): direction in FSK: [0.782845,-0.607236,0.135716]
2025-09-19T23:53:35.241Z,1758326015.241 [DAT](INFO): publishing direction and range info
2025-09-19T23:53:35.247Z,1758326015.247 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:53:35.247Z,1758326015.247 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:53:35.247Z,1758326015.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:53:35.474Z,1758326015.474 [DAT](INFO): DAT read: user:563>

2025-09-19T23:53:35.475Z,1758326015.475 [DAT](INFO): DAT read: Tx time:23:53:36.8128

2025-09-19T23:53:35.475Z,1758326015.475 [DAT](INFO): Ping request sent.
2025-09-19T23:53:35.475Z,1758326015.475 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:53:35.475Z,1758326015.475 [DAT](INFO): publishing transmit ping time
2025-09-19T23:53:35.477Z,1758326015.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001350
2025-09-19T23:53:35.727Z,1758326015.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251923
2025-09-19T23:53:35.980Z,1758326015.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504639
2025-09-19T23:53:36.229Z,1758326016.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753874
2025-09-19T23:53:36.494Z,1758326016.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.019371
2025-09-19T23:53:36.505Z,1758326016.505 [DockingStepper](INFO): Changing to mode: 3
2025-09-19T23:53:36.746Z,1758326016.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270296
2025-09-19T23:53:36.871Z,1758326016.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:36.999Z,1758326016.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523600
2025-09-19T23:53:37.249Z,1758326017.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774174
2025-09-19T23:53:37.501Z,1758326017.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025900
2025-09-19T23:53:37.754Z,1758326017.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278500
2025-09-19T23:53:38.008Z,1758326018.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532377
2025-09-19T23:53:38.257Z,1758326018.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781851
2025-09-19T23:53:38.509Z,1758326018.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033831
2025-09-19T23:53:38.761Z,1758326018.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286063
2025-09-19T23:53:38.922Z,1758326018.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:39.017Z,1758326019.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541214
2025-09-19T23:53:39.265Z,1758326019.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789930
2025-09-19T23:53:39.517Z,1758326019.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.041807
2025-09-19T23:53:39.770Z,1758326019.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294603
2025-09-19T23:53:40.023Z,1758326020.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547818
2025-09-19T23:53:40.273Z,1758326020.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.797849
2025-09-19T23:53:40.525Z,1758326020.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.049975
2025-09-19T23:53:40.777Z,1758326020.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.301861
2025-09-19T23:53:41.032Z,1758326021.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.556278
2025-09-19T23:53:41.281Z,1758326021.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805941
2025-09-19T23:53:41.333Z,1758326021.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:41.533Z,1758326021.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.057826
2025-09-19T23:53:41.787Z,1758326021.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.311485
2025-09-19T23:53:42.039Z,1758326022.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563897
2025-09-19T23:53:42.289Z,1758326022.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814062
2025-09-19T23:53:42.518Z,1758326022.518 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-09-19T23:53:42.541Z,1758326022.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066070
2025-09-19T23:53:42.793Z,1758326022.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317873
2025-09-19T23:53:43.047Z,1758326023.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.572117
2025-09-19T23:53:43.297Z,1758326023.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821969
2025-09-19T23:53:43.357Z,1758326023.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:43.549Z,1758326023.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.073889
2025-09-19T23:53:43.807Z,1758326023.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.331589
2025-09-19T23:53:44.060Z,1758326024.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.584027
2025-09-19T23:53:44.309Z,1758326024.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.833922
2025-09-19T23:53:44.563Z,1758326024.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087874
2025-09-19T23:53:44.813Z,1758326024.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338114
2025-09-19T23:53:45.067Z,1758326025.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.591975
2025-09-19T23:53:45.317Z,1758326025.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.841772
2025-09-19T23:53:45.392Z,1758326025.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:45.569Z,1758326025.569 [DAT](INFO): Reached modem response timeout
2025-09-19T23:53:45.569Z,1758326025.569 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:45.569Z,1758326025.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:53:45.821Z,1758326025.821 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:46.075Z,1758326026.075 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:46.325Z,1758326026.325 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:46.581Z,1758326026.581 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:46.833Z,1758326026.833 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:47.090Z,1758326027.090 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:47.337Z,1758326027.337 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:47.502Z,1758326027.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:47.589Z,1758326027.589 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:53:47.841Z,1758326027.841 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:53:47.841Z,1758326027.841 [DAT](INFO): response not received
2025-09-19T23:53:47.842Z,1758326027.842 [DAT](INFO): DAT read: user:564>

2025-09-19T23:53:47.842Z,1758326027.842 [DAT](INFO): DAT read: Tx time:23:53:49.2628

2025-09-19T23:53:47.843Z,1758326027.843 [DAT](INFO): Ping request sent.
2025-09-19T23:53:47.843Z,1758326027.843 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:53:47.843Z,1758326027.843 [DAT](INFO): publishing transmit ping time
2025-09-19T23:53:47.844Z,1758326027.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001163
2025-09-19T23:53:48.097Z,1758326028.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253765
2025-09-19T23:53:48.345Z,1758326028.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502413
2025-09-19T23:53:48.597Z,1758326028.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754406
2025-09-19T23:53:48.849Z,1758326028.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006088
2025-09-19T23:53:49.104Z,1758326029.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260275
2025-09-19T23:53:49.353Z,1758326029.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510057
2025-09-19T23:53:49.605Z,1758326029.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762118
2025-09-19T23:53:49.782Z,1758326029.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:49.858Z,1758326029.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014684
2025-09-19T23:53:50.109Z,1758326030.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266060
2025-09-19T23:53:50.363Z,1758326030.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520492
2025-09-19T23:53:50.613Z,1758326030.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770139
2025-09-19T23:53:50.865Z,1758326030.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022307
2025-09-19T23:53:51.117Z,1758326031.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274069
2025-09-19T23:53:51.369Z,1758326031.369 [DAT](INFO): DAT read: Rx Time:23:53:52.2081

2025-09-19T23:53:51.369Z,1758326031.369 [DAT](INFO): Rx dataTimestamp_ set to:1758326031.369147
2025-09-19T23:53:51.370Z,1758326031.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527174
2025-09-19T23:53:51.621Z,1758326031.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778327
2025-09-19T23:53:51.832Z,1758326031.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:51.881Z,1758326031.881 [DAT](INFO): DAT read: 23:53:52.2081 LVL= 32752, 32753, 27186, 32755, AGC= 75, IDX= 354, 0.26, 2.986, 2.587,-1.404,-2.190, PHS=-1.005,-1.461, 0.742, RAW= 198.7,  16.8, CAL= 198.7,  22.7, ROT= 311.3, -22.7

2025-09-19T23:53:51.882Z,1758326031.882 [DAT](INFO): got valid direction response:
 23:53:52.2081 LVL= 32752, 32753, 27186, 32755, AGC= 75, IDX= 354, 0.26, 2.986, 2.587,-1.404,-2.190, PHS=-1.005,-1.461, 0.742, RAW= 198.7,  16.8, CAL= 198.7,  22.7, ROT= 311.3, -22.7

2025-09-19T23:53:51.883Z,1758326031.883 [DAT](INFO): DAT read: Bearing 172.7, -52.6 (Local)

2025-09-19T23:53:51.884Z,1758326031.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.7, -52.6 (Local)

2025-09-19T23:53:51.885Z,1758326031.885 [DAT](INFO): DAT read: Range 11 to 50 : 405.9 m  (Round-trip  541.2 ms) speed  0.2 m/s

2025-09-19T23:53:51.886Z,1758326031.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:53:51.887Z,1758326031.887 [DAT](INFO): direction in FSK: [0.608877,-0.693070,0.385906]
2025-09-19T23:53:51.887Z,1758326031.887 [DAT](INFO): publishing direction and range info
2025-09-19T23:53:51.891Z,1758326031.891 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:53:51.891Z,1758326031.891 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:53:51.891Z,1758326031.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:53:52.125Z,1758326032.125 [DAT](INFO): DAT read: user:565>

2025-09-19T23:53:52.125Z,1758326032.125 [DAT](INFO): DAT read: Tx time:23:53:53.4627

2025-09-19T23:53:52.126Z,1758326032.126 [DAT](INFO): Ping request sent.
2025-09-19T23:53:52.126Z,1758326032.126 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:53:52.126Z,1758326032.126 [DAT](INFO): publishing transmit ping time
2025-09-19T23:53:52.127Z,1758326032.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-09-19T23:53:52.379Z,1758326032.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252619
2025-09-19T23:53:52.629Z,1758326032.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503011
2025-09-19T23:53:52.881Z,1758326032.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754969
2025-09-19T23:53:53.134Z,1758326033.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007744
2025-09-19T23:53:53.385Z,1758326033.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258993
2025-09-19T23:53:53.637Z,1758326033.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510933
2025-09-19T23:53:53.889Z,1758326033.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763003
2025-09-19T23:53:54.141Z,1758326034.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014990
2025-09-19T23:53:54.293Z,1758326034.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:54.394Z,1758326034.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268002
2025-09-19T23:53:54.645Z,1758326034.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519356
2025-09-19T23:53:54.897Z,1758326034.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770990
2025-09-19T23:53:55.149Z,1758326035.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023035
2025-09-19T23:53:55.401Z,1758326035.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274917
2025-09-19T23:53:55.653Z,1758326035.653 [DAT](INFO): DAT read: Rx Time:23:53:56.4282

2025-09-19T23:53:55.653Z,1758326035.653 [DAT](INFO): Rx dataTimestamp_ set to:1758326035.653114
2025-09-19T23:53:55.654Z,1758326035.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528044
2025-09-19T23:53:55.907Z,1758326035.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780592
2025-09-19T23:53:56.162Z,1758326036.162 [DAT](INFO): DAT read: 23:53:56.4282 LVL= 32752, 32753, 23218, 32755, AGC= 73, IDX= 128,-0.08, 2.526, 2.062,-2.043,-3.137, PHS=-0.518,-1.039, 1.050, RAW= 196.2,   5.4, CAL= 196.3,   4.4, ROT= 313.7,  -4.4

2025-09-19T23:53:56.163Z,1758326036.163 [DAT](INFO): got valid direction response:
 23:53:56.4282 LVL= 32752, 32753, 23218, 32755, AGC= 73, IDX= 128,-0.08, 2.526, 2.062,-2.043,-3.137, PHS=-0.518,-1.039, 1.050, RAW= 196.2,   5.4, CAL= 196.3,   4.4, ROT= 313.7,  -4.4

2025-09-19T23:53:56.164Z,1758326036.164 [DAT](INFO): DAT read: Bearing 145.6, -61.5 (Local)

2025-09-19T23:53:56.165Z,1758326036.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.6, -61.5 (Local)

2025-09-19T23:53:56.166Z,1758326036.166 [DAT](INFO): DAT read: Range 11 to 50 : 420.9 m  (Round-trip  561.3 ms) speed  0.2 m/s

2025-09-19T23:53:56.166Z,1758326036.166 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:53:56.167Z,1758326036.167 [DAT](INFO): direction in FSK: [0.688846,-0.720836,0.076719]
2025-09-19T23:53:56.168Z,1758326036.168 [DAT](INFO): publishing direction and range info
2025-09-19T23:53:56.171Z,1758326036.171 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:53:56.171Z,1758326036.171 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:53:56.171Z,1758326036.171 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:53:56.409Z,1758326036.409 [DAT](INFO): DAT read: user:566>

2025-09-19T23:53:56.411Z,1758326036.411 [DAT](INFO): DAT read: Tx time:23:53:57.7627

2025-09-19T23:53:56.411Z,1758326036.411 [DAT](INFO): Ping request sent.
2025-09-19T23:53:56.411Z,1758326036.411 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:53:56.411Z,1758326036.411 [DAT](INFO): publishing transmit ping time
2025-09-19T23:53:56.412Z,1758326036.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001125
2025-09-19T23:53:56.655Z,1758326036.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:56.661Z,1758326036.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249601
2025-09-19T23:53:56.914Z,1758326036.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502513
2025-09-19T23:53:57.166Z,1758326037.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754762
2025-09-19T23:53:57.418Z,1758326037.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006286
2025-09-19T23:53:57.669Z,1758326037.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257829
2025-09-19T23:53:57.922Z,1758326037.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510270
2025-09-19T23:53:58.173Z,1758326038.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761511
2025-09-19T23:53:58.426Z,1758326038.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014449
2025-09-19T23:53:58.677Z,1758326038.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265655
2025-09-19T23:53:58.705Z,1758326038.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:53:58.929Z,1758326038.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517501
2025-09-19T23:53:59.181Z,1758326039.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769506
2025-09-19T23:53:59.264Z,1758326039.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:53:59.433Z,1758326039.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021724
2025-09-19T23:53:59.685Z,1758326039.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273450
2025-09-19T23:53:59.937Z,1758326039.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525939
2025-09-19T23:54:00.189Z,1758326040.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777544
2025-09-19T23:54:00.268Z,1758326040.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:54:00.441Z,1758326040.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029582
2025-09-19T23:54:00.693Z,1758326040.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281522
2025-09-19T23:54:00.793Z,1758326040.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:00.945Z,1758326040.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533575
2025-09-19T23:54:01.198Z,1758326041.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786162
2025-09-19T23:54:01.453Z,1758326041.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041476
2025-09-19T23:54:01.701Z,1758326041.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289538
2025-09-19T23:54:01.953Z,1758326041.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541598
2025-09-19T23:54:02.205Z,1758326042.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793442
2025-09-19T23:54:02.457Z,1758326042.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045538
2025-09-19T23:54:02.709Z,1758326042.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298045
2025-09-19T23:54:02.753Z,1758326042.753 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 420.90 m. Transitioning docking module to standby.
2025-09-19T23:54:02.961Z,1758326042.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549777
2025-09-19T23:54:03.118Z,1758326043.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:03.213Z,1758326043.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801951
2025-09-19T23:54:03.217Z,1758326043.217 [DockingStepper](INFO): Changing to mode: 1
2025-09-19T23:54:03.465Z,1758326043.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053490
2025-09-19T23:54:03.717Z,1758326043.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305848
2025-09-19T23:54:03.969Z,1758326043.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557868
2025-09-19T23:54:04.221Z,1758326044.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809499
2025-09-19T23:54:04.473Z,1758326044.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061954
2025-09-19T23:54:04.726Z,1758326044.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314254
2025-09-19T23:54:04.977Z,1758326044.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565508
2025-09-19T23:54:05.138Z,1758326045.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:05.230Z,1758326045.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818405
2025-09-19T23:54:05.481Z,1758326045.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069547
2025-09-19T23:54:05.733Z,1758326045.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322101
2025-09-19T23:54:05.985Z,1758326045.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573896
2025-09-19T23:54:06.237Z,1758326046.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825568
2025-09-19T23:54:06.489Z,1758326046.489 [DAT](INFO): Reached modem response timeout
2025-09-19T23:54:06.489Z,1758326046.489 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:06.489Z,1758326046.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:06.742Z,1758326046.742 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:06.993Z,1758326046.993 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:07.151Z,1758326047.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:07.245Z,1758326047.245 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:07.497Z,1758326047.497 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:07.749Z,1758326047.749 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:08.002Z,1758326048.002 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:08.253Z,1758326048.253 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:08.505Z,1758326048.505 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:54:08.757Z,1758326048.757 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:54:08.758Z,1758326048.758 [DAT](INFO): response not received
2025-09-19T23:54:08.758Z,1758326048.758 [DAT](INFO): DAT read: user:567>

2025-09-19T23:54:08.759Z,1758326048.759 [DAT](INFO): DAT read: Tx time:23:54:10.2127

2025-09-19T23:54:08.759Z,1758326048.759 [DAT](INFO): Ping request sent.
2025-09-19T23:54:08.759Z,1758326048.759 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:08.759Z,1758326048.759 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:08.760Z,1758326048.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000820
2025-09-19T23:54:09.009Z,1758326049.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249935
2025-09-19T23:54:09.177Z,1758326049.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:09.179Z,1758326049.179 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-09-19T23:54:09.262Z,1758326049.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502791
2025-09-19T23:54:09.513Z,1758326049.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753761
2025-09-19T23:54:09.608Z,1758326049.608 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-09-19T23:54:09.608Z,1758326049.608 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-09-19T23:54:09.609Z,1758326049.609 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-09-19T23:54:09.765Z,1758326049.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005772
2025-09-19T23:54:09.985Z,1758326049.985 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-09-19T23:54:09.985Z,1758326049.985 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-09-19T23:54:09.985Z,1758326049.985 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-09-19T23:54:10.017Z,1758326050.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257956
2025-09-19T23:54:10.269Z,1758326050.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509746
2025-09-19T23:54:10.398Z,1758326050.398 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-09-19T23:54:10.399Z,1758326050.399 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-19T23:54:10.399Z,1758326050.399 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-09-19T23:54:10.399Z,1758326050.399 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-19T23:54:10.399Z,1758326050.399 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-19T23:54:10.523Z,1758326050.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763756
2025-09-19T23:54:10.773Z,1758326050.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013911
2025-09-19T23:54:10.846Z,1758326050.846 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-09-19T23:54:10.847Z,1758326050.847 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-19T23:54:10.856Z,1758326050.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-19T23:54:10.857Z,1758326050.857 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-19T23:54:10.858Z,1758326050.858 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-09-19T23:54:10.858Z,1758326050.858 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-19T23:54:10.858Z,1758326050.858 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-09-19T23:54:10.859Z,1758326050.859 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 420.899994 m 
2025-09-19T23:54:10.859Z,1758326050.859 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-09-19T23:54:10.868Z,1758326050.868 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-09-19T23:54:10.870Z,1758326050.870 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-09-19T23:54:10.872Z,1758326050.872 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-09-19T23:54:10.872Z,1758326050.872 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-09-19T23:54:10.872Z,1758326050.872 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-09-19T23:54:10.874Z,1758326050.874 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-09-19T23:54:11.025Z,1758326051.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265792
2025-09-19T23:54:11.195Z,1758326051.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:11.210Z,1758326051.210 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630
2025-09-19T23:54:11.232Z,1758326051.232 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-09-19T23:54:11.232Z,1758326051.232 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-19T23:54:11.232Z,1758326051.232 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-09-19T23:54:11.232Z,1758326051.232 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-19T23:54:11.260Z,1758326051.260 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-09-19T23:54:11.278Z,1758326051.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518501
2025-09-19T23:54:11.529Z,1758326051.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769820
2025-09-19T23:54:11.635Z,1758326051.635 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-09-19T23:54:11.635Z,1758326051.635 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-09-19T23:54:11.635Z,1758326051.635 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-09-19T23:54:11.641Z,1758326051.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-19T23:54:11.641Z,1758326051.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-19T23:54:11.641Z,1758326051.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-09-19T23:54:11.641Z,1758326051.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-19T23:54:11.642Z,1758326051.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-09-19T23:54:11.643Z,1758326051.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-19T23:54:11.643Z,1758326051.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-19T23:54:11.643Z,1758326051.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-19T23:54:11.644Z,1758326051.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-09-19T23:54:11.648Z,1758326051.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-19T23:54:11.648Z,1758326051.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-09-19T23:54:11.648Z,1758326051.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-19T23:54:11.648Z,1758326051.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-19T23:54:11.649Z,1758326051.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-09-19T23:54:11.649Z,1758326051.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-09-19T23:54:11.649Z,1758326051.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-09-19T23:54:11.649Z,1758326051.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-09-19T23:54:11.649Z,1758326051.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-09-19T23:54:11.649Z,1758326051.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-09-19T23:54:11.650Z,1758326051.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-09-19T23:54:11.651Z,1758326051.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-09-19T23:54:11.651Z,1758326051.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-09-19T23:54:11.651Z,1758326051.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-09-19T23:54:11.651Z,1758326051.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-19T23:54:11.651Z,1758326051.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-09-19T23:54:11.651Z,1758326051.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-19T23:54:11.651Z,1758326051.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-09-19T23:54:11.651Z,1758326051.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-09-19T23:54:11.652Z,1758326051.652 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-09-19T23:54:11.656Z,1758326051.656 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-09-19T23:54:11.656Z,1758326051.656 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-09-19T23:54:11.781Z,1758326051.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022048
2025-09-19T23:54:12.030Z,1758326052.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 420.899994 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-09-19T23:54:12.033Z,1758326052.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273932
2025-09-19T23:54:12.034Z,1758326052.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 419.921997 m,
      bearing: 280.236276 deg,
      lat: 36.779218 deg,
      lon: -121.859605 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-09-19T23:54:12.035Z,1758326052.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:12.038Z,1758326052.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.741364 m,
      bearing: 269.555545 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 336.609180 deg,
      new cmd heading: 269.555545 deg.

2025-09-19T23:54:12.038Z,1758326052.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704632 target range: 419.921997 and range: 420.90 m.
2025-09-19T23:54:12.104Z,1758326052.104 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-09-19T23:54:12.108Z,1758326052.108 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-09-19T23:54:12.285Z,1758326052.285 [DAT](INFO): DAT read: Rx Time:23:54:13.1675

2025-09-19T23:54:12.286Z,1758326052.286 [DAT](INFO): Rx dataTimestamp_ set to:1758326052.285267
2025-09-19T23:54:12.286Z,1758326052.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527023
2025-09-19T23:54:12.459Z,1758326052.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:12.487Z,1758326052.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.764648 m,
      bearing: 269.532056 deg,
      approach rate: 0.054256 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.555547 deg,
      new cmd heading: 269.532056 deg.

2025-09-19T23:54:12.510Z,1758326052.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704222 target range: 419.921997 and range: 420.90 m.
2025-09-19T23:54:12.545Z,1758326052.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780434
2025-09-19T23:54:12.790Z,1758326052.790 [DAT](INFO): DAT read: Range 11 to 50 : 412.9 m  (Round-trip  550.6 ms) speed -0.2 m/s

2025-09-19T23:54:12.791Z,1758326052.791 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-19T23:54:12.791Z,1758326052.791 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:12.791Z,1758326052.791 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:12.792Z,1758326052.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:12.908Z,1758326052.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 412.899994 m,
      deltaT: 16.632246 s,
      deltaX: -8.000000 m,
      approachRate: -0.480993 m/s,
      rangeRepo size: 2

2025-09-19T23:54:12.909Z,1758326052.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:12.911Z,1758326052.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.788391 m,
      bearing: 269.508187 deg,
      approach rate: 0.052915 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.532051 deg,
      new cmd heading: 269.508187 deg.

2025-09-19T23:54:12.912Z,1758326052.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703805 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:13.005Z,1758326053.005 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-19T23:54:13.041Z,1758326053.041 [DAT](INFO): DAT read: user:568>

2025-09-19T23:54:13.042Z,1758326053.042 [DAT](INFO): DAT read: Tx time:23:54:14.3627

2025-09-19T23:54:13.042Z,1758326053.042 [DAT](INFO): Ping request sent.
2025-09-19T23:54:13.042Z,1758326053.042 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:13.042Z,1758326053.042 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:13.043Z,1758326053.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-09-19T23:54:13.125Z,1758326053.125 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-19T23:54:13.253Z,1758326053.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:13.255Z,1758326053.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:13.257Z,1758326053.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.806763 m,
      bearing: 269.490661 deg,
      approach rate: 0.052879 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.508200 deg,
      new cmd heading: 269.490661 deg.

2025-09-19T23:54:13.258Z,1758326053.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703499 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:13.294Z,1758326053.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251482
2025-09-19T23:54:13.545Z,1758326053.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502708
2025-09-19T23:54:13.681Z,1758326053.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:13.683Z,1758326053.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.821777 m,
      bearing: 269.466548 deg,
      approach rate: 0.035244 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.490660 deg,
      new cmd heading: 269.466548 deg.

2025-09-19T23:54:13.684Z,1758326053.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703078 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:13.797Z,1758326053.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754963
2025-09-19T23:54:14.053Z,1758326054.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010772
2025-09-19T23:54:14.129Z,1758326054.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:14.131Z,1758326054.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.837158 m,
      bearing: 269.442478 deg,
      approach rate: 0.034321 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.466536 deg,
      new cmd heading: 269.442478 deg.

2025-09-19T23:54:14.172Z,1758326054.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702658 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:14.305Z,1758326054.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262800
2025-09-19T23:54:14.559Z,1758326054.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516504
2025-09-19T23:54:14.612Z,1758326054.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:14.614Z,1758326054.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.853546 m,
      bearing: 269.416974 deg,
      approach rate: 0.034233 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.442466 deg,
      new cmd heading: 269.416974 deg.

2025-09-19T23:54:14.615Z,1758326054.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702213 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:14.809Z,1758326054.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766732
2025-09-19T23:54:14.908Z,1758326054.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:14.911Z,1758326054.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.862885 m,
      bearing: 269.400418 deg,
      approach rate: 0.031045 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.416976 deg,
      new cmd heading: 269.400418 deg.

2025-09-19T23:54:14.912Z,1758326054.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701924 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:15.061Z,1758326055.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018770
2025-09-19T23:54:15.292Z,1758326055.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:15.294Z,1758326055.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:15.297Z,1758326055.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.874359 m,
      bearing: 269.380152 deg,
      approach rate: 0.029718 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.400419 deg,
      new cmd heading: 269.380152 deg.

2025-09-19T23:54:15.298Z,1758326055.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701571 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:15.313Z,1758326055.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270884
2025-09-19T23:54:15.568Z,1758326055.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525307
2025-09-19T23:54:15.716Z,1758326055.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:15.719Z,1758326055.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.880341 m,
      bearing: 269.357733 deg,
      approach rate: 0.014199 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.380147 deg,
      new cmd heading: 269.357733 deg.

2025-09-19T23:54:15.721Z,1758326055.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701180 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:15.817Z,1758326055.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775012
2025-09-19T23:54:16.073Z,1758326056.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030843
2025-09-19T23:54:16.146Z,1758326056.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:16.160Z,1758326056.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.886505 m,
      bearing: 269.335700 deg,
      approach rate: 0.014328 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.357744 deg,
      new cmd heading: 269.335700 deg.

2025-09-19T23:54:16.161Z,1758326056.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700795 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:16.325Z,1758326056.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282739
2025-09-19T23:54:16.502Z,1758326056.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:16.506Z,1758326056.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.892120 m,
      bearing: 269.315838 deg,
      approach rate: 0.015757 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.335696 deg,
      new cmd heading: 269.315838 deg.

2025-09-19T23:54:16.506Z,1758326056.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700448 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:16.559Z,1758326056.559 [DockingStepper](INFO): Changing to mode: 1
2025-09-19T23:54:16.580Z,1758326056.580 [DAT](INFO): DAT read: Rx Time:23:54:17.3176

2025-09-19T23:54:16.582Z,1758326056.582 [DAT](INFO): Rx dataTimestamp_ set to:1758326056.580891
2025-09-19T23:54:16.584Z,1758326056.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541244
2025-09-19T23:54:16.829Z,1758326056.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786844
2025-09-19T23:54:16.971Z,1758326056.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.92 m.
2025-09-19T23:54:16.993Z,1758326056.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 419.921997 m,
      nav range: 395.896149 m,
      bearing: 269.289922 deg,
      approach rate: 0.008603 m/s,
      LOS rate: nan deg/s,
      cmd heading: 269.315834 deg,
      new cmd heading: 269.289922 deg.

2025-09-19T23:54:16.994Z,1758326056.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699996 target range: 419.921997 and range: 412.90 m.
2025-09-19T23:54:17.090Z,1758326057.090 [DAT](INFO): DAT read: 23:54:17.3176 LVL= 32752, 32753, 22002, 32755, AGC= 70, IDX= 420, 0.33,-2.644,-2.341,-0.597,-1.829, PHS=-0.713,-0.466, 1.188, RAW= 216.8,  -0.1, CAL= 215.3,  -1.1, ROT= 294.7,   1.1

2025-09-19T23:54:17.091Z,1758326057.091 [DAT](INFO): got valid direction response:
 23:54:17.3176 LVL= 32752, 32753, 22002, 32755, AGC= 70, IDX= 420, 0.33,-2.644,-2.341,-0.597,-1.829, PHS=-0.713,-0.466, 1.188, RAW= 216.8,  -0.1, CAL= 215.3,  -1.1, ROT= 294.7,   1.1

2025-09-19T23:54:17.093Z,1758326057.093 [DAT](INFO): DAT read: Bearing 145.9, -74.3 (Local)

2025-09-19T23:54:17.094Z,1758326057.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -74.3 (Local)

2025-09-19T23:54:17.100Z,1758326057.100 [DAT](INFO): DAT read: Range 11 to 50 : 413.0 m  (Round-trip  550.7 ms) speed  0.0 m/s

2025-09-19T23:54:17.101Z,1758326057.101 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:17.103Z,1758326057.103 [DAT](INFO): direction in FSK: [0.417790,-0.908341,-0.019197]
2025-09-19T23:54:17.103Z,1758326057.103 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:17.115Z,1758326057.115 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:17.115Z,1758326057.115 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:17.115Z,1758326057.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:17.334Z,1758326057.334 [DAT](INFO): DAT read: user:569>

2025-09-19T23:54:17.335Z,1758326057.335 [DAT](INFO): DAT read: Tx time:23:54:18.7127

2025-09-19T23:54:17.336Z,1758326057.336 [DAT](INFO): Ping request sent.
2025-09-19T23:54:17.337Z,1758326057.337 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:17.337Z,1758326057.337 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:17.338Z,1758326057.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001683
2025-09-19T23:54:17.449Z,1758326057.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 413.000000 m,
      deltaT: 4.291735 s,
      deltaX: 0.100006 m,
      approachRate: 0.023302 m/s,
      rangeRepo size: 3

2025-09-19T23:54:17.451Z,1758326057.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 412.048370 m,
      bearing: 272.038427 deg,
      lat: 36.779394 deg,
      lon: -121.859666 deg,
      deltaT: 20.923981 s,
      deltaX: -7.873627 m,
      approachRate: -0.376297 m/s,
      posRepo size: 2

2025-09-19T23:54:17.452Z,1758326057.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:17.457Z,1758326057.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 272.038427 deg.
2025-09-19T23:54:17.458Z,1758326057.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.747966 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:17.587Z,1758326057.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250839
2025-09-19T23:54:17.839Z,1758326057.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502142
2025-09-19T23:54:17.855Z,1758326057.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:17.874Z,1758326057.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:17.881Z,1758326057.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.605804 m,
      bearing: 272.049965 deg,
      approach rate: -0.018156 m/s,
      LOS rate: -0.058052 deg/s,
      cmd heading: 272.038430 deg,
      new cmd heading: 271.988470 deg.

2025-09-19T23:54:17.882Z,1758326057.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.747094 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:18.089Z,1758326058.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752660
2025-09-19T23:54:18.248Z,1758326058.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:18.251Z,1758326058.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.598755 m,
      bearing: 272.027631 deg,
      approach rate: -0.018884 m/s,
      LOS rate: -0.059827 deg/s,
      cmd heading: 271.988460 deg,
      new cmd heading: 271.943793 deg.

2025-09-19T23:54:18.251Z,1758326058.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.746315 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:18.343Z,1758326058.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006407
2025-09-19T23:54:18.595Z,1758326058.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258733
2025-09-19T23:54:18.712Z,1758326058.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:18.715Z,1758326058.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.590179 m,
      bearing: 271.998090 deg,
      approach rate: -0.018476 m/s,
      LOS rate: -0.063650 deg/s,
      cmd heading: 271.943791 deg,
      new cmd heading: 271.884707 deg.

2025-09-19T23:54:18.716Z,1758326058.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745283 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:18.846Z,1758326058.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509034
2025-09-19T23:54:19.095Z,1758326059.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:19.097Z,1758326059.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760749
2025-09-19T23:54:19.099Z,1758326059.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.582733 m,
      bearing: 271.973251 deg,
      approach rate: -0.019451 m/s,
      LOS rate: -0.064885 deg/s,
      cmd heading: 271.884696 deg,
      new cmd heading: 271.835016 deg.

2025-09-19T23:54:19.100Z,1758326059.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744416 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:19.350Z,1758326059.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013209
2025-09-19T23:54:19.495Z,1758326059.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:19.498Z,1758326059.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.575287 m,
      bearing: 271.948094 deg,
      approach rate: -0.018581 m/s,
      LOS rate: -0.062776 deg/s,
      cmd heading: 271.835027 deg,
      new cmd heading: 271.784712 deg.

2025-09-19T23:54:19.499Z,1758326059.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743538 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:19.605Z,1758326059.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268471
2025-09-19T23:54:19.854Z,1758326059.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517897
2025-09-19T23:54:19.923Z,1758326059.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:19.926Z,1758326059.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:19.928Z,1758326059.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.571808 m,
      bearing: 271.921239 deg,
      approach rate: -0.008088 m/s,
      LOS rate: -0.062433 deg/s,
      cmd heading: 271.784702 deg,
      new cmd heading: 271.730990 deg.

2025-09-19T23:54:19.929Z,1758326059.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.742600 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:20.105Z,1758326060.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768487
2025-09-19T23:54:20.287Z,1758326060.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:20.289Z,1758326060.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.568268 m,
      bearing: 271.896128 deg,
      approach rate: -0.009804 m/s,
      LOS rate: -0.069545 deg/s,
      cmd heading: 271.730989 deg,
      new cmd heading: 271.680767 deg.

2025-09-19T23:54:20.290Z,1758326060.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741724 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:20.357Z,1758326060.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021156
2025-09-19T23:54:20.612Z,1758326060.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275170
2025-09-19T23:54:20.711Z,1758326060.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:20.714Z,1758326060.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.561493 m,
      bearing: 271.866320 deg,
      approach rate: -0.015950 m/s,
      LOS rate: -0.070177 deg/s,
      cmd heading: 271.680774 deg,
      new cmd heading: 271.621157 deg.

2025-09-19T23:54:20.715Z,1758326060.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.740684 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:20.861Z,1758326060.861 [DAT](INFO): DAT read: Rx Time:23:54:21.6570

2025-09-19T23:54:20.861Z,1758326060.861 [DAT](INFO): Rx dataTimestamp_ set to:1758326060.861075
2025-09-19T23:54:20.862Z,1758326060.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525599
2025-09-19T23:54:21.106Z,1758326061.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.05 m.
2025-09-19T23:54:21.109Z,1758326061.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.048370 m,
      nav range: 401.554779 m,
      bearing: 271.838519 deg,
      approach rate: -0.017000 m/s,
      LOS rate: -0.070396 deg/s,
      cmd heading: 271.621160 deg,
      new cmd heading: 271.565556 deg.

2025-09-19T23:54:21.110Z,1758326061.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.739713 target range: 412.048370 and range: 413.00 m.
2025-09-19T23:54:21.113Z,1758326061.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776676
2025-09-19T23:54:21.370Z,1758326061.370 [DAT](INFO): DAT read: 23:54:21.6570 LVL= 32752, 32753, 28514, 32755, AGC= 69, IDX= 327,-0.27, 2.845, 2.778,-1.319,-2.342, PHS=-0.995,-1.118, 0.980, RAW= 207.0,  11.1, CAL= 207.9,  13.1, ROT= 302.1, -13.1

2025-09-19T23:54:21.371Z,1758326061.371 [DAT](INFO): got valid direction response:
 23:54:21.6570 LVL= 32752, 32753, 28514, 32755, AGC= 69, IDX= 327,-0.27, 2.845, 2.778,-1.319,-2.342, PHS=-0.995,-1.118, 0.980, RAW= 207.0,  11.1, CAL= 207.9,  13.1, ROT= 302.1, -13.1

2025-09-19T23:54:21.372Z,1758326061.372 [DAT](INFO): DAT read: Bearing 170.8, -61.2 (Local)

2025-09-19T23:54:21.373Z,1758326061.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.8, -61.2 (Local)

2025-09-19T23:54:21.374Z,1758326061.374 [DAT](INFO): DAT read: Range 11 to 50 : 405.0 m  (Round-trip  540.1 ms) speed  0.0 m/s

2025-09-19T23:54:21.375Z,1758326061.375 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:21.375Z,1758326061.375 [DAT](INFO): direction in FSK: [0.517570,-0.825076,0.226651]
2025-09-19T23:54:21.376Z,1758326061.376 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:21.379Z,1758326061.379 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:21.379Z,1758326061.379 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:21.379Z,1758326061.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:21.555Z,1758326061.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 405.000000 m,
      deltaT: 4.284070 s,
      deltaX: -8.000000 m,
      approachRate: -1.867383 m/s,
      rangeRepo size: 4

2025-09-19T23:54:21.557Z,1758326061.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 404.074097 m,
      bearing: 279.943690 deg,
      lat: 36.779661 deg,
      lon: -121.859666 deg,
      deltaT: 4.284070 s,
      deltaX: -7.974274 m,
      approachRate: -1.861378 m/s,
      posRepo size: 3

2025-09-19T23:54:21.558Z,1758326061.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:21.577Z,1758326061.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.568756 m,
      bearing: 276.016886 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070396 deg/s,
      cmd heading: 271.565562 deg,
      new cmd heading: 271.502490 deg.

2025-09-19T23:54:21.578Z,1758326061.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738612 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:21.619Z,1758326061.619 [DAT](INFO): DAT read: user:570>

2025-09-19T23:54:21.622Z,1758326061.622 [DAT](INFO): DAT read: Tx time:23:54:22.9627

2025-09-19T23:54:21.623Z,1758326061.623 [DAT](INFO): Ping request sent.
2025-09-19T23:54:21.623Z,1758326061.623 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:21.624Z,1758326061.624 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:21.627Z,1758326061.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003345
2025-09-19T23:54:21.870Z,1758326061.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246861
2025-09-19T23:54:22.026Z,1758326062.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:22.033Z,1758326062.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:22.035Z,1758326062.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.545410 m,
      bearing: 275.984429 deg,
      approach rate: -0.048818 m/s,
      LOS rate: -0.067873 deg/s,
      cmd heading: 271.502478 deg,
      new cmd heading: 271.437561 deg.

2025-09-19T23:54:22.049Z,1758326062.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.737479 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:22.121Z,1758326062.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498251
2025-09-19T23:54:22.373Z,1758326062.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750183
2025-09-19T23:54:22.395Z,1758326062.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:22.397Z,1758326062.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.524872 m,
      bearing: 275.957011 deg,
      approach rate: -0.056729 m/s,
      LOS rate: -0.075735 deg/s,
      cmd heading: 271.437564 deg,
      new cmd heading: 271.382726 deg.

2025-09-19T23:54:22.398Z,1758326062.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736522 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:22.626Z,1758326062.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003211
2025-09-19T23:54:22.864Z,1758326062.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:22.867Z,1758326062.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.492432 m,
      bearing: 275.923843 deg,
      approach rate: -0.072274 m/s,
      LOS rate: -0.073903 deg/s,
      cmd heading: 271.382731 deg,
      new cmd heading: 271.316389 deg.

2025-09-19T23:54:22.877Z,1758326062.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254356
2025-09-19T23:54:22.868Z,1758326062.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.735364 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:23.129Z,1758326063.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506169
2025-09-19T23:54:23.258Z,1758326063.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:23.260Z,1758326063.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.460327 m,
      bearing: 275.892042 deg,
      approach rate: -0.077524 m/s,
      LOS rate: -0.076797 deg/s,
      cmd heading: 271.316397 deg,
      new cmd heading: 271.252790 deg.

2025-09-19T23:54:23.261Z,1758326063.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734254 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:23.386Z,1758326063.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762886
2025-09-19T23:54:23.640Z,1758326063.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016241
2025-09-19T23:54:23.776Z,1758326063.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:23.779Z,1758326063.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.411377 m,
      bearing: 275.854182 deg,
      approach rate: -0.094424 m/s,
      LOS rate: -0.073039 deg/s,
      cmd heading: 271.252794 deg,
      new cmd heading: 271.177066 deg.

2025-09-19T23:54:23.780Z,1758326063.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732933 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:23.890Z,1758326063.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267479
2025-09-19T23:54:24.120Z,1758326064.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:24.122Z,1758326064.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:24.125Z,1758326064.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.373108 m,
      bearing: 275.825523 deg,
      approach rate: -0.110487 m/s,
      LOS rate: -0.082751 deg/s,
      cmd heading: 271.177061 deg,
      new cmd heading: 271.119737 deg.

2025-09-19T23:54:24.126Z,1758326064.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731932 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:24.141Z,1758326064.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518263
2025-09-19T23:54:24.394Z,1758326064.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770949
2025-09-19T23:54:24.524Z,1758326064.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:24.527Z,1758326064.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.330475 m,
      bearing: 275.794653 deg,
      approach rate: -0.106209 m/s,
      LOS rate: -0.076913 deg/s,
      cmd heading: 271.119742 deg,
      new cmd heading: 271.057995 deg.

2025-09-19T23:54:24.528Z,1758326064.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730855 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:24.646Z,1758326064.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023160
2025-09-19T23:54:24.897Z,1758326064.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274217
2025-09-19T23:54:24.988Z,1758326064.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:24.991Z,1758326064.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.269135 m,
      bearing: 275.758019 deg,
      approach rate: -0.132077 m/s,
      LOS rate: -0.078892 deg/s,
      cmd heading: 271.057997 deg,
      new cmd heading: 270.984718 deg.

2025-09-19T23:54:25.017Z,1758326065.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729576 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:25.149Z,1758326065.149 [DAT](INFO): DAT read: Rx Time:23:54:25.9168

2025-09-19T23:54:25.149Z,1758326065.149 [DAT](INFO): Rx dataTimestamp_ set to:1758326065.149143
2025-09-19T23:54:25.150Z,1758326065.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527269
2025-09-19T23:54:25.401Z,1758326065.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778228
2025-09-19T23:54:25.445Z,1758326065.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.07 m.
2025-09-19T23:54:25.447Z,1758326065.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.074097 m,
      nav range: 403.204926 m,
      bearing: 275.722023 deg,
      approach rate: -0.140594 m/s,
      LOS rate: -0.078829 deg/s,
      cmd heading: 270.984723 deg,
      new cmd heading: 270.912721 deg.

2025-09-19T23:54:25.453Z,1758326065.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728319 target range: 404.074097 and range: 405.00 m.
2025-09-19T23:54:25.676Z,1758326065.676 [DAT](INFO): DAT read: 23:54:25.9168 LVL= 28128, 29537, 23362, 32755, AGC= 71, IDX=  29,-0.27,-1.687,-1.800, 0.557,-0.653, PHS=-0.933,-1.103, 1.165, RAW= 206.1,   8.0, CAL= 206.5,   8.8, ROT= 303.5,  -8.8

2025-09-19T23:54:25.679Z,1758326065.679 [DAT](INFO): got valid direction response:
 23:54:25.9168 LVL= 28128, 29537, 23362, 32755, AGC= 71, IDX=  29,-0.27,-1.687,-1.800, 0.557,-0.653, PHS=-0.933,-1.103, 1.165, RAW= 206.1,   8.0, CAL= 206.5,   8.8, ROT= 303.5,  -8.8

2025-09-19T23:54:25.682Z,1758326065.682 [DAT](INFO): DAT read: Bearing 154.0, -61.5 (Local)

2025-09-19T23:54:25.683Z,1758326065.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0, -61.5 (Local)

2025-09-19T23:54:25.700Z,1758326065.700 [DAT](INFO): DAT read: Range 11 to 50 : 412.5 m  (Round-trip  550.0 ms) speed  0.1 m/s

2025-09-19T23:54:25.702Z,1758326065.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:25.725Z,1758326065.725 [DAT](INFO): direction in FSK: [0.545440,-0.824070,0.152986]
2025-09-19T23:54:25.725Z,1758326065.725 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:25.747Z,1758326065.747 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:25.747Z,1758326065.747 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:25.747Z,1758326065.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:25.905Z,1758326065.905 [DAT](INFO): DAT read: user:571>

2025-09-19T23:54:25.906Z,1758326065.906 [DAT](INFO): DAT read: Tx time:23:54:27.3127

2025-09-19T23:54:25.906Z,1758326065.906 [DAT](INFO): Ping request sent.
2025-09-19T23:54:25.906Z,1758326065.906 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:25.906Z,1758326065.906 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:25.907Z,1758326065.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000772
2025-09-19T23:54:25.995Z,1758326065.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 412.500000 m,
      deltaT: 4.287976 s,
      deltaX: 7.500000 m,
      approachRate: 1.749077 m/s,
      rangeRepo size: 4

2025-09-19T23:54:26.001Z,1758326066.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 411.533600 m,
      bearing: 277.598378 deg,
      lat: 36.779790 deg,
      lon: -121.859722 deg,
      deltaT: 4.287976 s,
      deltaX: 7.459503 m,
      approachRate: 1.739633 m/s,
      posRepo size: 4

2025-09-19T23:54:26.002Z,1758326066.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:26.009Z,1758326066.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 409.676483 m,
      bearing: 277.599767 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.078829 deg/s,
      cmd heading: 270.912733 deg,
      new cmd heading: 270.826176 deg.

2025-09-19T23:54:26.009Z,1758326066.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726809 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:26.157Z,1758326066.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250751
2025-09-19T23:54:26.365Z,1758326066.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:26.367Z,1758326066.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:26.374Z,1758326066.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 409.602386 m,
      bearing: 277.569239 deg,
      approach rate: -0.198353 m/s,
      LOS rate: -0.081735 deg/s,
      cmd heading: 270.826180 deg,
      new cmd heading: 270.765114 deg.

2025-09-19T23:54:26.375Z,1758326066.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725743 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:26.411Z,1758326066.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504366
2025-09-19T23:54:26.661Z,1758326066.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759
2025-09-19T23:54:26.819Z,1758326066.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:26.827Z,1758326066.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 409.501984 m,
      bearing: 277.531945 deg,
      approach rate: -0.222966 m/s,
      LOS rate: -0.082840 deg/s,
      cmd heading: 270.765118 deg,
      new cmd heading: 270.690511 deg.

2025-09-19T23:54:26.833Z,1758326066.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724441 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:26.918Z,1758326066.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011569
2025-09-19T23:54:27.169Z,1758326067.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263008
2025-09-19T23:54:27.227Z,1758326067.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:27.230Z,1758326067.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 409.403534 m,
      bearing: 277.496321 deg,
      approach rate: -0.240692 m/s,
      LOS rate: -0.087114 deg/s,
      cmd heading: 270.690505 deg,
      new cmd heading: 270.619242 deg.

2025-09-19T23:54:27.231Z,1758326067.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723197 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:27.421Z,1758326067.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514725
2025-09-19T23:54:27.563Z,1758326067.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:27.565Z,1758326067.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 409.322205 m,
      bearing: 277.467651 deg,
      approach rate: -0.242204 m/s,
      LOS rate: -0.085399 deg/s,
      cmd heading: 270.619253 deg,
      new cmd heading: 270.561901 deg.

2025-09-19T23:54:27.566Z,1758326067.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722196 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:27.675Z,1758326067.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768895
2025-09-19T23:54:27.925Z,1758326067.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018685
2025-09-19T23:54:28.018Z,1758326068.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:28.021Z,1758326068.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 409.209442 m,
      bearing: 277.428505 deg,
      approach rate: -0.247752 m/s,
      LOS rate: -0.086031 deg/s,
      cmd heading: 270.561907 deg,
      new cmd heading: 270.483594 deg.

2025-09-19T23:54:28.022Z,1758326068.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720829 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:28.177Z,1758326068.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270769
2025-09-19T23:54:28.387Z,1758326068.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:28.390Z,1758326068.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:28.393Z,1758326068.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 409.112885 m,
      bearing: 277.396732 deg,
      approach rate: -0.259073 m/s,
      LOS rate: -0.085271 deg/s,
      cmd heading: 270.483605 deg,
      new cmd heading: 270.420044 deg.

2025-09-19T23:54:28.394Z,1758326068.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719720 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:28.429Z,1758326068.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523104
2025-09-19T23:54:28.681Z,1758326068.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774733
2025-09-19T23:54:28.846Z,1758326068.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:28.868Z,1758326068.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 408.990509 m,
      bearing: 277.357260 deg,
      approach rate: -0.268897 m/s,
      LOS rate: -0.086759 deg/s,
      cmd heading: 270.420030 deg,
      new cmd heading: 270.341061 deg.

2025-09-19T23:54:28.869Z,1758326068.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718342 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:28.933Z,1758326068.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026890
2025-09-19T23:54:29.185Z,1758326069.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279223
2025-09-19T23:54:29.256Z,1758326069.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:29.259Z,1758326069.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 408.878845 m,
      bearing: 277.322171 deg,
      approach rate: -0.272141 m/s,
      LOS rate: -0.085540 deg/s,
      cmd heading: 270.341073 deg,
      new cmd heading: 270.270876 deg.

2025-09-19T23:54:29.260Z,1758326069.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717117 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:29.437Z,1758326069.437 [DAT](INFO): DAT read: Rx Time:23:54:30.2558

2025-09-19T23:54:29.437Z,1758326069.437 [DAT](INFO): Rx dataTimestamp_ set to:1758326069.437026
2025-09-19T23:54:29.438Z,1758326069.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531700
2025-09-19T23:54:29.670Z,1758326069.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.53 m.
2025-09-19T23:54:29.673Z,1758326069.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 411.533600 m,
      nav range: 408.761932 m,
      bearing: 277.286271 deg,
      approach rate: -0.282439 m/s,
      LOS rate: -0.086751 deg/s,
      cmd heading: 270.270886 deg,
      new cmd heading: 270.199067 deg.

2025-09-19T23:54:29.674Z,1758326069.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715863 target range: 411.533600 and range: 412.50 m.
2025-09-19T23:54:29.705Z,1758326069.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.798610
2025-09-19T23:54:29.958Z,1758326069.958 [DAT](INFO): DAT read: 23:54:30.2558 LVL= 32448, 29057, 20722, 32211, AGC= 71, IDX= 332, 0.40, 1.477, 1.338,-2.585, 2.451, PHS=-0.872,-1.068, 1.203, RAW= 205.5,   6.8, CAL= 205.8,   7.0, ROT= 304.2,  -7.0

2025-09-19T23:54:29.959Z,1758326069.959 [DAT](INFO): got valid direction response:
 23:54:30.2558 LVL= 32448, 29057, 20722, 32211, AGC= 71, IDX= 332, 0.40, 1.477, 1.338,-2.585, 2.451, PHS=-0.872,-1.068, 1.203, RAW= 205.5,   6.8, CAL= 205.8,   7.0, ROT= 304.2,  -7.0

2025-09-19T23:54:29.960Z,1758326069.960 [DAT](INFO): DAT read: Bearing 140.9, -59.4 (Local)

2025-09-19T23:54:29.961Z,1758326069.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.9, -59.4 (Local)

2025-09-19T23:54:29.962Z,1758326069.962 [DAT](INFO): DAT read: Range 11 to 50 : 404.2 m  (Round-trip  539.0 ms) speed  0.1 m/s

2025-09-19T23:54:29.963Z,1758326069.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:29.964Z,1758326069.964 [DAT](INFO): direction in FSK: [0.557894,-0.820915,0.121869]
2025-09-19T23:54:29.964Z,1758326069.964 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:29.967Z,1758326069.967 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:29.967Z,1758326069.967 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:29.967Z,1758326069.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:30.114Z,1758326070.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 404.200012 m,
      deltaT: 4.300006 s,
      deltaX: -8.299988 m,
      approachRate: -1.930227 m/s,
      rangeRepo size: 4

2025-09-19T23:54:30.116Z,1758326070.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 403.252441 m,
      bearing: 272.967531 deg,
      lat: 36.779790 deg,
      lon: -121.859722 deg,
      deltaT: 4.300006 s,
      deltaX: -8.281158 m,
      approachRate: -1.925848 m/s,
      posRepo size: 4

2025-09-19T23:54:30.117Z,1758326070.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:30.119Z,1758326070.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 408.641266 m,
      bearing: 277.248821 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.086751 deg/s,
      cmd heading: 270.199060 deg,
      new cmd heading: 270.122159 deg.

2025-09-19T23:54:30.120Z,1758326070.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714521 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:30.206Z,1758326070.206 [DAT](INFO): DAT read: user:572>

2025-09-19T23:54:30.207Z,1758326070.207 [DAT](INFO): DAT read: Tx time:23:54:31.5626

2025-09-19T23:54:30.207Z,1758326070.207 [DAT](INFO): Ping request sent.
2025-09-19T23:54:30.207Z,1758326070.207 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:30.208Z,1758326070.208 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:30.209Z,1758326070.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001211
2025-09-19T23:54:30.396Z,1758326070.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:54:30.457Z,1758326070.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249514
2025-09-19T23:54:30.493Z,1758326070.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:30.495Z,1758326070.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:30.506Z,1758326070.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 408.538025 m,
      bearing: 277.217558 deg,
      approach rate: -0.269914 m/s,
      LOS rate: -0.081756 deg/s,
      cmd heading: 270.122152 deg,
      new cmd heading: 270.059609 deg.

2025-09-19T23:54:30.507Z,1758326070.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713429 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:30.709Z,1758326070.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501323
2025-09-19T23:54:30.953Z,1758326070.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:30.955Z,1758326070.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 408.413422 m,
      bearing: 277.176947 deg,
      approach rate: -0.272534 m/s,
      LOS rate: -0.088852 deg/s,
      cmd heading: 270.059615 deg,
      new cmd heading: 269.978368 deg.

2025-09-19T23:54:30.956Z,1758326070.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712011 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:30.969Z,1758326070.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761685
2025-09-19T23:54:31.222Z,1758326071.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014569
2025-09-19T23:54:31.359Z,1758326071.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:31.362Z,1758326071.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 408.307770 m,
      bearing: 277.143433 deg,
      approach rate: -0.260272 m/s,
      LOS rate: -0.082582 deg/s,
      cmd heading: 269.978363 deg,
      new cmd heading: 269.911318 deg.

2025-09-19T23:54:31.363Z,1758326071.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710841 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:31.400Z,1758326071.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:54:31.474Z,1758326071.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266225
2025-09-19T23:54:31.726Z,1758326071.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518037
2025-09-19T23:54:31.791Z,1758326071.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:31.813Z,1758326071.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 408.197815 m,
      bearing: 277.109436 deg,
      approach rate: -0.255291 m/s,
      LOS rate: -0.078954 deg/s,
      cmd heading: 269.911318 deg,
      new cmd heading: 269.843306 deg.

2025-09-19T23:54:31.816Z,1758326071.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709654 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:31.977Z,1758326071.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769419
2025-09-19T23:54:32.166Z,1758326072.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:32.169Z,1758326072.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 408.079529 m,
      bearing: 277.073015 deg,
      approach rate: -0.314190 m/s,
      LOS rate: -0.096769 deg/s,
      cmd heading: 269.843316 deg,
      new cmd heading: 269.770453 deg.

2025-09-19T23:54:32.170Z,1758326072.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708383 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:32.229Z,1758326072.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021819
2025-09-19T23:54:32.481Z,1758326072.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273351
2025-09-19T23:54:32.547Z,1758326072.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:32.550Z,1758326072.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:32.552Z,1758326072.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 407.972900 m,
      bearing: 277.041066 deg,
      approach rate: -0.277812 m/s,
      LOS rate: -0.083262 deg/s,
      cmd heading: 269.770452 deg,
      new cmd heading: 269.706538 deg.

2025-09-19T23:54:32.553Z,1758326072.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707267 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:32.734Z,1758326072.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526265
2025-09-19T23:54:32.973Z,1758326072.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:32.976Z,1758326072.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 407.849854 m,
      bearing: 277.004322 deg,
      approach rate: -0.290345 m/s,
      LOS rate: -0.086729 deg/s,
      cmd heading: 269.706548 deg,
      new cmd heading: 269.633037 deg.

2025-09-19T23:54:32.977Z,1758326072.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705984 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:33.001Z,1758326073.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.793383
2025-09-19T23:54:33.253Z,1758326073.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.045381
2025-09-19T23:54:33.378Z,1758326073.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:33.381Z,1758326073.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 407.738007 m,
      bearing: 276.970849 deg,
      approach rate: -0.276229 m/s,
      LOS rate: -0.082692 deg/s,
      cmd heading: 269.633028 deg,
      new cmd heading: 269.566064 deg.

2025-09-19T23:54:33.382Z,1758326073.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704815 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:33.506Z,1758326073.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.298149
2025-09-19T23:54:33.757Z,1758326073.757 [DAT](INFO): DAT read: Rx Time:23:54:34.5257

2025-09-19T23:54:33.758Z,1758326073.758 [DAT](INFO): Rx dataTimestamp_ set to:1758326073.757518
2025-09-19T23:54:33.758Z,1758326073.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.550852
2025-09-19T23:54:33.805Z,1758326073.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:33.828Z,1758326073.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 407.613953 m,
      bearing: 276.935910 deg,
      approach rate: -0.294638 m/s,
      LOS rate: -0.083006 deg/s,
      cmd heading: 269.566065 deg,
      new cmd heading: 269.496168 deg.

2025-09-19T23:54:33.857Z,1758326073.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703596 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:34.009Z,1758326074.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.801372
2025-09-19T23:54:34.252Z,1758326074.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.25 m.
2025-09-19T23:54:34.255Z,1758326074.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.252441 m,
      nav range: 407.470886 m,
      bearing: 276.897675 deg,
      approach rate: -0.315860 m/s,
      LOS rate: -0.084445 deg/s,
      cmd heading: 269.496179 deg,
      new cmd heading: 269.419681 deg.

2025-09-19T23:54:34.269Z,1758326074.269 [DAT](INFO): DAT read: 23:54:34.5257 LVL= 24640, 26609, 18802, 32755, AGC= 75, IDX= 134,-0.02,-2.571,-2.914,-1.285,-2.250, PHS=-0.220,-0.620, 0.921, RAW= 195.5,  -1.2, CAL= 195.6,  -3.8, ROT= 314.4,   3.8

2025-09-19T23:54:34.270Z,1758326074.270 [DAT](INFO): got valid direction response:
 23:54:34.5257 LVL= 24640, 26609, 18802, 32755, AGC= 75, IDX= 134,-0.02,-2.571,-2.914,-1.285,-2.250, PHS=-0.220,-0.620, 0.921, RAW= 195.5,  -1.2, CAL= 195.6,  -3.8, ROT= 314.4,   3.8

2025-09-19T23:54:34.270Z,1758326074.270 [DAT](INFO): DAT read: Bearing 114.5, -45.9 (Local)

2025-09-19T23:54:34.271Z,1758326074.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 114.5, -45.9 (Local)

2025-09-19T23:54:34.273Z,1758326074.273 [DAT](INFO): DAT read: Range 11 to 50 : 419.1 m  (Round-trip  558.9 ms) speed  0.0 m/s

2025-09-19T23:54:34.274Z,1758326074.274 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:34.275Z,1758326074.275 [DAT](INFO): direction in FSK: [0.698125,-0.712902,-0.066274]
2025-09-19T23:54:34.275Z,1758326074.275 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:34.279Z,1758326074.279 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:34.279Z,1758326074.279 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:34.281Z,1758326074.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702260 target range: 403.252441 and range: 404.20 m.
2025-09-19T23:54:34.292Z,1758326074.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:34.513Z,1758326074.513 [DAT](INFO): DAT read: user:573>

2025-09-19T23:54:34.513Z,1758326074.513 [DAT](INFO): DAT read: Tx time:23:54:35.8626

2025-09-19T23:54:34.514Z,1758326074.514 [DAT](INFO): Ping request sent.
2025-09-19T23:54:34.514Z,1758326074.514 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:34.514Z,1758326074.514 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:34.515Z,1758326074.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-09-19T23:54:34.695Z,1758326074.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 419.100006 m,
      deltaT: 4.308089 s,
      deltaX: 14.899994 m,
      approachRate: 3.458609 m/s,
      rangeRepo size: 4

2025-09-19T23:54:34.702Z,1758326074.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 418.126129 m,
      bearing: 274.718749 deg,
      lat: 36.779661 deg,
      lon: -121.859722 deg,
      deltaT: 4.308089 s,
      deltaX: 14.873688 m,
      approachRate: 3.452502 m/s,
      posRepo size: 4

2025-09-19T23:54:34.702Z,1758326074.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:34.709Z,1758326074.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 405.875488 m,
      bearing: 274.861138 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084445 deg/s,
      cmd heading: 269.419680 deg,
      new cmd heading: 269.344982 deg.

2025-09-19T23:54:34.710Z,1758326074.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700957 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:34.766Z,1758326074.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252519
2025-09-19T23:54:35.017Z,1758326075.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502982
2025-09-19T23:54:35.103Z,1758326075.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:35.106Z,1758326075.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:35.109Z,1758326075.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 405.740204 m,
      bearing: 274.823818 deg,
      approach rate: -0.328662 m/s,
      LOS rate: -0.090697 deg/s,
      cmd heading: 269.344986 deg,
      new cmd heading: 269.270319 deg.

2025-09-19T23:54:35.110Z,1758326075.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699654 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:35.269Z,1758326075.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755064
2025-09-19T23:54:35.521Z,1758326075.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006950
2025-09-19T23:54:35.586Z,1758326075.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:35.589Z,1758326075.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 405.586487 m,
      bearing: 274.782883 deg,
      approach rate: -0.320468 m/s,
      LOS rate: -0.085373 deg/s,
      cmd heading: 269.270318 deg,
      new cmd heading: 269.188417 deg.

2025-09-19T23:54:35.590Z,1758326075.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698224 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:35.773Z,1758326075.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259051
2025-09-19T23:54:36.008Z,1758326076.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:36.011Z,1758326076.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 405.442261 m,
      bearing: 274.745985 deg,
      approach rate: -0.341780 m/s,
      LOS rate: -0.087469 deg/s,
      cmd heading: 269.188410 deg,
      new cmd heading: 269.114590 deg.

2025-09-19T23:54:36.012Z,1758326076.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696936 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:36.025Z,1758326076.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511051
2025-09-19T23:54:36.278Z,1758326076.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764091
2025-09-19T23:54:36.474Z,1758326076.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:36.477Z,1758326076.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 405.278564 m,
      bearing: 274.705490 deg,
      approach rate: -0.350850 m/s,
      LOS rate: -0.086829 deg/s,
      cmd heading: 269.114590 deg,
      new cmd heading: 269.033566 deg.

2025-09-19T23:54:36.478Z,1758326076.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695521 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:36.529Z,1758326076.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015331
2025-09-19T23:54:36.781Z,1758326076.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267316
2025-09-19T23:54:36.954Z,1758326076.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:36.957Z,1758326076.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 405.107056 m,
      bearing: 274.662787 deg,
      approach rate: -0.357583 m/s,
      LOS rate: -0.089069 deg/s,
      cmd heading: 269.033556 deg,
      new cmd heading: 268.948115 deg.

2025-09-19T23:54:36.958Z,1758326076.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694030 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:37.034Z,1758326077.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519797
2025-09-19T23:54:37.286Z,1758326077.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771991
2025-09-19T23:54:37.323Z,1758326077.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:37.325Z,1758326077.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:37.327Z,1758326077.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 404.971161 m,
      bearing: 274.628885 deg,
      approach rate: -0.366482 m/s,
      LOS rate: -0.091459 deg/s,
      cmd heading: 268.948124 deg,
      new cmd heading: 268.880297 deg.

2025-09-19T23:54:37.329Z,1758326077.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692846 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:37.537Z,1758326077.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022978
2025-09-19T23:54:37.703Z,1758326077.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:37.706Z,1758326077.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 404.826843 m,
      bearing: 274.595418 deg,
      approach rate: -0.381930 m/s,
      LOS rate: -0.088600 deg/s,
      cmd heading: 268.880287 deg,
      new cmd heading: 268.813329 deg.

2025-09-19T23:54:37.707Z,1758326077.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691678 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:37.791Z,1758326077.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276842
2025-09-19T23:54:38.041Z,1758326078.041 [DAT](INFO): DAT read: Rx Time:23:54:38.8136

2025-09-19T23:54:38.041Z,1758326078.041 [DAT](INFO): Rx dataTimestamp_ set to:1758326078.041205
2025-09-19T23:54:38.042Z,1758326078.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528153
2025-09-19T23:54:38.156Z,1758326078.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.13 m.
2025-09-19T23:54:38.159Z,1758326078.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.126129 m,
      nav range: 404.653046 m,
      bearing: 274.555926 deg,
      approach rate: -0.384388 m/s,
      LOS rate: -0.087382 deg/s,
      cmd heading: 268.813324 deg,
      new cmd heading: 268.734306 deg.

2025-09-19T23:54:38.163Z,1758326078.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690299 target range: 418.126129 and range: 419.10 m.
2025-09-19T23:54:38.295Z,1758326078.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780595
2025-09-19T23:54:38.561Z,1758326078.561 [DAT](INFO): DAT read: 23:54:38.8136 LVL= 32752, 32753, 20722, 32755, AGC= 70, IDX= 317,-0.33, 0.973, 0.241, 2.756, 1.533, PHS=-0.459,-1.247, 1.178, RAW= 191.4,   5.0, CAL= 191.6,   3.4, ROT= 318.4,  -3.4

2025-09-19T23:54:38.562Z,1758326078.562 [DAT](INFO): got valid direction response:
 23:54:38.8136 LVL= 32752, 32753, 20722, 32755, AGC= 70, IDX= 317,-0.33, 0.973, 0.241, 2.756, 1.533, PHS=-0.459,-1.247, 1.178, RAW= 191.4,   5.0, CAL= 191.6,   3.4, ROT= 318.4,  -3.4

2025-09-19T23:54:38.563Z,1758326078.563 [DAT](INFO): DAT read: Bearing 114.9, -39.8 (Local)

2025-09-19T23:54:38.564Z,1758326078.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 114.9, -39.8 (Local)

2025-09-19T23:54:38.565Z,1758326078.565 [DAT](INFO): DAT read: Range 11 to 50 : 410.1 m  (Round-trip  546.8 ms) speed  0.0 m/s

2025-09-19T23:54:38.566Z,1758326078.566 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:38.567Z,1758326078.567 [DAT](INFO): direction in FSK: [0.746482,-0.662758,0.059306]
2025-09-19T23:54:38.567Z,1758326078.567 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:38.579Z,1758326078.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 410.100006 m,
      deltaT: 4.283996 s,
      deltaX: -9.000000 m,
      approachRate: -2.100842 m/s,
      rangeRepo size: 4

2025-09-19T23:54:38.586Z,1758326078.586 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:38.586Z,1758326078.586 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:38.587Z,1758326078.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:38.590Z,1758326078.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 409.146088 m,
      bearing: 270.827936 deg,
      lat: 36.779661 deg,
      lon: -121.859722 deg,
      deltaT: 4.283996 s,
      deltaX: -8.980042 m,
      approachRate: -2.096184 m/s,
      posRepo size: 4

2025-09-19T23:54:38.591Z,1758326078.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:38.594Z,1758326078.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 404.491852 m,
      bearing: 274.520506 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087382 deg/s,
      cmd heading: 268.734312 deg,
      new cmd heading: 268.660235 deg.

2025-09-19T23:54:38.595Z,1758326078.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689006 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:38.798Z,1758326078.798 [DAT](INFO): DAT read: user:574>

2025-09-19T23:54:38.799Z,1758326078.799 [DAT](INFO): DAT read: Tx time:23:54:40.1626

2025-09-19T23:54:38.799Z,1758326078.799 [DAT](INFO): Ping request sent.
2025-09-19T23:54:38.799Z,1758326078.799 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:38.799Z,1758326078.799 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:38.800Z,1758326078.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-09-19T23:54:39.041Z,1758326079.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:39.043Z,1758326079.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 404.283081 m,
      bearing: 274.478260 deg,
      approach rate: -0.451767 m/s,
      LOS rate: -0.091465 deg/s,
      cmd heading: 268.660245 deg,
      new cmd heading: 268.575710 deg.

2025-09-19T23:54:39.049Z,1758326079.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250062
2025-09-19T23:54:39.050Z,1758326079.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687531 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:39.303Z,1758326079.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503229
2025-09-19T23:54:39.409Z,1758326079.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:39.411Z,1758326079.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:39.414Z,1758326079.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 404.120361 m,
      bearing: 274.446430 deg,
      approach rate: -0.439209 m/s,
      LOS rate: -0.085949 deg/s,
      cmd heading: 268.575715 deg,
      new cmd heading: 268.512029 deg.

2025-09-19T23:54:39.415Z,1758326079.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686419 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:39.554Z,1758326079.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754737
2025-09-19T23:54:39.805Z,1758326079.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005987
2025-09-19T23:54:39.831Z,1758326079.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:39.834Z,1758326079.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 403.933472 m,
      bearing: 274.411077 deg,
      approach rate: -0.445047 m/s,
      LOS rate: -0.084227 deg/s,
      cmd heading: 268.512030 deg,
      new cmd heading: 268.441292 deg.

2025-09-19T23:54:39.835Z,1758326079.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685184 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:40.057Z,1758326080.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257938
2025-09-19T23:54:40.309Z,1758326080.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510104
2025-09-19T23:54:40.349Z,1758326080.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:40.351Z,1758326080.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 403.711334 m,
      bearing: 274.367798 deg,
      approach rate: -0.429473 m/s,
      LOS rate: -0.083720 deg/s,
      cmd heading: 268.441297 deg,
      new cmd heading: 268.354691 deg.

2025-09-19T23:54:40.352Z,1758326080.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683673 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:40.561Z,1758326080.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761918
2025-09-19T23:54:40.768Z,1758326080.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:40.778Z,1758326080.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 403.543793 m,
      bearing: 274.336196 deg,
      approach rate: -0.403184 m/s,
      LOS rate: -0.076082 deg/s,
      cmd heading: 268.354690 deg,
      new cmd heading: 268.291459 deg.

2025-09-19T23:54:40.780Z,1758326080.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682570 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:40.814Z,1758326080.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015572
2025-09-19T23:54:41.065Z,1758326081.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266037
2025-09-19T23:54:41.168Z,1758326081.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:41.171Z,1758326081.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 403.360046 m,
      bearing: 274.301075 deg,
      approach rate: -0.454808 m/s,
      LOS rate: -0.086969 deg/s,
      cmd heading: 268.291470 deg,
      new cmd heading: 268.221197 deg.

2025-09-19T23:54:41.172Z,1758326081.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681343 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:41.317Z,1758326081.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517901
2025-09-19T23:54:41.558Z,1758326081.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:41.560Z,1758326081.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:41.563Z,1758326081.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 403.196686 m,
      bearing: 274.269796 deg,
      approach rate: -0.416721 m/s,
      LOS rate: -0.079823 deg/s,
      cmd heading: 268.221201 deg,
      new cmd heading: 268.158618 deg.

2025-09-19T23:54:41.564Z,1758326081.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680251 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:41.569Z,1758326081.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770058
2025-09-19T23:54:41.825Z,1758326081.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025403
2025-09-19T23:54:42.017Z,1758326082.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:42.027Z,1758326082.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 403.009766 m,
      bearing: 274.236636 deg,
      approach rate: -0.409046 m/s,
      LOS rate: -0.072599 deg/s,
      cmd heading: 268.158609 deg,
      new cmd heading: 268.092258 deg.

2025-09-19T23:54:42.029Z,1758326082.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679092 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:42.073Z,1758326082.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274056
2025-09-19T23:54:42.325Z,1758326082.325 [DAT](INFO): DAT read: Rx Time:23:54:43.1014

2025-09-19T23:54:42.326Z,1758326082.326 [DAT](INFO): Rx dataTimestamp_ set to:1758326082.325462
2025-09-19T23:54:42.326Z,1758326082.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527355
2025-09-19T23:54:42.338Z,1758326082.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:42.341Z,1758326082.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 402.861328 m,
      bearing: 274.211132 deg,
      approach rate: -0.462156 m/s,
      LOS rate: -0.079436 deg/s,
      cmd heading: 268.092247 deg,
      new cmd heading: 268.041219 deg.

2025-09-19T23:54:42.342Z,1758326082.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678202 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:42.577Z,1758326082.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777944
2025-09-19T23:54:42.799Z,1758326082.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.15 m.
2025-09-19T23:54:42.807Z,1758326082.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.146088 m,
      nav range: 402.664337 m,
      bearing: 274.178324 deg,
      approach rate: -0.427095 m/s,
      LOS rate: -0.071164 deg/s,
      cmd heading: 268.041212 deg,
      new cmd heading: 267.975565 deg.

2025-09-19T23:54:42.814Z,1758326082.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677056 target range: 409.146088 and range: 410.10 m.
2025-09-19T23:54:42.834Z,1758326082.834 [DAT](INFO): DAT read: 23:54:43.1014 LVL= 31728, 30817, 24306, 31731, AGC= 70, IDX= 319, 0.50,-0.625,-1.614, 0.828,-0.266, PHS=-0.257,-1.303, 1.050, RAW= 183.7,   5.0, CAL= 183.5,   3.5, ROT= 326.5,  -3.5

2025-09-19T23:54:42.835Z,1758326082.835 [DAT](INFO): got valid direction response:
 23:54:43.1014 LVL= 31728, 30817, 24306, 31731, AGC= 70, IDX= 319, 0.50,-0.625,-1.614, 0.828,-0.266, PHS=-0.257,-1.303, 1.050, RAW= 183.7,   5.0, CAL= 183.5,   3.5, ROT= 326.5,  -3.5

2025-09-19T23:54:42.836Z,1758326082.836 [DAT](INFO): DAT read: Bearing 105.1, -29.7 (Local)

2025-09-19T23:54:42.837Z,1758326082.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing 105.1, -29.7 (Local)

2025-09-19T23:54:42.838Z,1758326082.838 [DAT](INFO): DAT read: Range 11 to 50 : 400.9 m  (Round-trip  534.6 ms) speed  0.3 m/s

2025-09-19T23:54:42.839Z,1758326082.839 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:42.840Z,1758326082.840 [DAT](INFO): direction in FSK: [0.832331,-0.550907,0.061049]
2025-09-19T23:54:42.840Z,1758326082.840 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:42.843Z,1758326082.843 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:42.844Z,1758326082.844 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:42.844Z,1758326082.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:43.084Z,1758326083.084 [DAT](INFO): DAT read: user:575>

2025-09-19T23:54:43.085Z,1758326083.085 [DAT](INFO): DAT read: Tx time:23:54:44.4142

2025-09-19T23:54:43.085Z,1758326083.085 [DAT](INFO): Ping request sent.
2025-09-19T23:54:43.086Z,1758326083.086 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:43.086Z,1758326083.086 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:43.086Z,1758326083.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-09-19T23:54:43.302Z,1758326083.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 400.899994 m,
      deltaT: 4.284008 s,
      deltaX: -9.200012 m,
      approachRate: -2.147525 m/s,
      rangeRepo size: 4

2025-09-19T23:54:43.308Z,1758326083.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 399.961639 m,
      bearing: 267.585595 deg,
      lat: 36.779513 deg,
      lon: -121.859722 deg,
      deltaT: 4.284008 s,
      deltaX: -9.184448 m,
      approachRate: -2.143892 m/s,
      posRepo size: 4

2025-09-19T23:54:43.309Z,1758326083.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:43.311Z,1758326083.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 401.604950 m,
      bearing: 271.788844 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.071164 deg/s,
      cmd heading: 267.975560 deg,
      new cmd heading: 267.904133 deg.

2025-09-19T23:54:43.313Z,1758326083.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675809 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:43.333Z,1758326083.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247380
2025-09-19T23:54:43.585Z,1758326083.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499098
2025-09-19T23:54:43.837Z,1758326083.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751214
2025-09-19T23:54:43.863Z,1758326083.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:43.865Z,1758326083.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:43.868Z,1758326083.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 401.355743 m,
      bearing: 271.744062 deg,
      approach rate: -0.441777 m/s,
      LOS rate: -0.079437 deg/s,
      cmd heading: 267.904143 deg,
      new cmd heading: 267.814523 deg.

2025-09-19T23:54:43.869Z,1758326083.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674245 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:44.089Z,1758326084.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003270
2025-09-19T23:54:44.296Z,1758326084.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:44.299Z,1758326084.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 401.174744 m,
      bearing: 271.714401 deg,
      approach rate: -0.420654 m/s,
      LOS rate: -0.068963 deg/s,
      cmd heading: 267.814531 deg,
      new cmd heading: 267.755184 deg.

2025-09-19T23:54:44.299Z,1758326084.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673210 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:44.341Z,1758326084.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255470
2025-09-19T23:54:44.594Z,1758326084.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508072
2025-09-19T23:54:44.827Z,1758326084.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:44.830Z,1758326084.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 400.947754 m,
      bearing: 271.678282 deg,
      approach rate: -0.426977 m/s,
      LOS rate: -0.067979 deg/s,
      cmd heading: 267.755191 deg,
      new cmd heading: 267.682912 deg.

2025-09-19T23:54:44.831Z,1758326084.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671948 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:44.845Z,1758326084.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759374
2025-09-19T23:54:45.097Z,1758326085.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011107
2025-09-19T23:54:45.258Z,1758326085.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:45.263Z,1758326085.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 400.770996 m,
      bearing: 271.651675 deg,
      approach rate: -0.410714 m/s,
      LOS rate: -0.061853 deg/s,
      cmd heading: 267.682900 deg,
      new cmd heading: 267.629661 deg.

2025-09-19T23:54:45.266Z,1758326085.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671019 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:45.350Z,1758326085.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263916
2025-09-19T23:54:45.602Z,1758326085.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515922
2025-09-19T23:54:45.665Z,1758326085.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:45.667Z,1758326085.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 400.586548 m,
      bearing: 271.624760 deg,
      approach rate: -0.453327 m/s,
      LOS rate: -0.066181 deg/s,
      cmd heading: 267.629652 deg,
      new cmd heading: 267.575797 deg.

2025-09-19T23:54:45.668Z,1758326085.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670079 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:45.853Z,1758326085.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767156
2025-09-19T23:54:46.079Z,1758326086.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:46.081Z,1758326086.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:46.083Z,1758326086.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 400.412720 m,
      bearing: 271.598248 deg,
      approach rate: -0.417473 m/s,
      LOS rate: -0.063699 deg/s,
      cmd heading: 267.575803 deg,
      new cmd heading: 267.522757 deg.

2025-09-19T23:54:46.085Z,1758326086.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669153 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:46.105Z,1758326086.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019573
2025-09-19T23:54:46.357Z,1758326086.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271290
2025-09-19T23:54:46.484Z,1758326086.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:46.487Z,1758326086.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 400.243958 m,
      bearing: 271.572479 deg,
      approach rate: -0.418918 m/s,
      LOS rate: -0.063995 deg/s,
      cmd heading: 267.522746 deg,
      new cmd heading: 267.471185 deg.

2025-09-19T23:54:46.488Z,1758326086.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668253 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:46.610Z,1758326086.610 [DAT](INFO): DAT read: Rx Time:23:54:47.3616

2025-09-19T23:54:46.610Z,1758326086.610 [DAT](INFO): Rx dataTimestamp_ set to:1758326086.609769
2025-09-19T23:54:46.611Z,1758326086.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525327
2025-09-19T23:54:46.861Z,1758326086.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775310
2025-09-19T23:54:46.890Z,1758326086.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.96 m.
2025-09-19T23:54:46.893Z,1758326086.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.961639 m,
      nav range: 400.068329 m,
      bearing: 271.547309 deg,
      approach rate: -0.432003 m/s,
      LOS rate: -0.061938 deg/s,
      cmd heading: 267.471191 deg,
      new cmd heading: 267.420830 deg.

2025-09-19T23:54:46.894Z,1758326086.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667374 target range: 399.961639 and range: 400.90 m.
2025-09-19T23:54:47.118Z,1758326087.118 [DAT](INFO): DAT read: 23:54:47.3616 LVL= 23088, 22961, 17538, 21203, AGC= 72, IDX=  23,-0.00, 0.816,-0.244, 1.634, 0.545, PHS= 0.374,-0.744, 1.045, RAW= 171.8,  -8.7, CAL= 172.6, -10.3, ROT= 337.4,  10.3

2025-09-19T23:54:47.120Z,1758326087.120 [DAT](INFO): got valid direction response:
 23:54:47.3616 LVL= 23088, 22961, 17538, 21203, AGC= 72, IDX=  23,-0.00, 0.816,-0.244, 1.634, 0.545, PHS= 0.374,-0.744, 1.045, RAW= 171.8,  -8.7, CAL= 172.6, -10.3, ROT= 337.4,  10.3

2025-09-19T23:54:47.121Z,1758326087.121 [DAT](INFO): DAT read: Bearing  81.0, -15.9 (Local)

2025-09-19T23:54:47.121Z,1758326087.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.0, -15.9 (Local)

2025-09-19T23:54:47.122Z,1758326087.122 [DAT](INFO): DAT read: Range 11 to 50 : 407.4 m  (Round-trip  543.2 ms) speed  0.3 m/s

2025-09-19T23:54:47.123Z,1758326087.123 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:47.124Z,1758326087.124 [DAT](INFO): direction in FSK: [0.908333,-0.378102,-0.178802]
2025-09-19T23:54:47.124Z,1758326087.124 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:47.127Z,1758326087.127 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:47.127Z,1758326087.127 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:47.128Z,1758326087.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:47.343Z,1758326087.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 407.399994 m,
      deltaT: 4.283985 s,
      deltaX: 6.500000 m,
      approachRate: 1.517279 m/s,
      rangeRepo size: 4

2025-09-19T23:54:47.345Z,1758326087.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 406.446777 m,
      bearing: 268.909460 deg,
      lat: 36.779427 deg,
      lon: -121.859748 deg,
      deltaT: 4.283985 s,
      deltaX: 6.485138 m,
      approachRate: 1.513810 m/s,
      posRepo size: 4

2025-09-19T23:54:47.346Z,1758326087.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:47.349Z,1758326087.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 402.058044 m,
      bearing: 270.163372 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061938 deg/s,
      cmd heading: 267.420839 deg,
      new cmd heading: 267.364828 deg.

2025-09-19T23:54:47.350Z,1758326087.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666397 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:47.365Z,1758326087.365 [DAT](INFO): DAT read: user:576>

2025-09-19T23:54:47.366Z,1758326087.366 [DAT](INFO): DAT read: Tx time:23:54:48.7126

2025-09-19T23:54:47.366Z,1758326087.366 [DAT](INFO): Ping request sent.
2025-09-19T23:54:47.366Z,1758326087.366 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:47.366Z,1758326087.366 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:47.367Z,1758326087.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000890
2025-09-19T23:54:47.617Z,1758326087.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251060
2025-09-19T23:54:47.781Z,1758326087.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:47.784Z,1758326087.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 401.868469 m,
      bearing: 270.136973 deg,
      approach rate: -0.432413 m/s,
      LOS rate: -0.060243 deg/s,
      cmd heading: 267.364832 deg,
      new cmd heading: 267.312009 deg.

2025-09-19T23:54:47.797Z,1758326087.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665475 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:47.869Z,1758326087.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502823
2025-09-19T23:54:48.121Z,1758326088.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754694
2025-09-19T23:54:48.227Z,1758326088.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:48.230Z,1758326088.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:48.233Z,1758326088.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 401.665100 m,
      bearing: 270.107718 deg,
      approach rate: -0.453119 m/s,
      LOS rate: -0.065216 deg/s,
      cmd heading: 267.312021 deg,
      new cmd heading: 267.253480 deg.

2025-09-19T23:54:48.234Z,1758326088.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664453 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:48.373Z,1758326088.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007332
2025-09-19T23:54:48.606Z,1758326088.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:48.609Z,1758326088.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 401.492554 m,
      bearing: 270.085218 deg,
      approach rate: -0.458014 m/s,
      LOS rate: -0.059750 deg/s,
      cmd heading: 267.253472 deg,
      new cmd heading: 267.208453 deg.

2025-09-19T23:54:48.610Z,1758326088.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663667 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:48.625Z,1758326088.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258759
2025-09-19T23:54:48.878Z,1758326088.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511759
2025-09-19T23:54:49.042Z,1758326089.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:49.067Z,1758326089.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 401.300354 m,
      bearing: 270.060952 deg,
      approach rate: -0.443680 m/s,
      LOS rate: -0.056042 deg/s,
      cmd heading: 267.208448 deg,
      new cmd heading: 267.159894 deg.

2025-09-19T23:54:49.071Z,1758326089.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662820 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:49.130Z,1758326089.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763598
2025-09-19T23:54:49.382Z,1758326089.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015363
2025-09-19T23:54:49.448Z,1758326089.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:49.451Z,1758326089.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 401.099854 m,
      bearing: 270.036268 deg,
      approach rate: -0.491225 m/s,
      LOS rate: -0.060506 deg/s,
      cmd heading: 267.159899 deg,
      new cmd heading: 267.110506 deg.

2025-09-19T23:54:49.452Z,1758326089.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661958 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:49.633Z,1758326089.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266670
2025-09-19T23:54:49.827Z,1758326089.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:49.830Z,1758326089.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 400.919373 m,
      bearing: 270.014751 deg,
      approach rate: -0.476064 m/s,
      LOS rate: -0.056783 deg/s,
      cmd heading: 267.110503 deg,
      new cmd heading: 267.067449 deg.

2025-09-19T23:54:49.831Z,1758326089.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661206 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:49.886Z,1758326089.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519258
2025-09-19T23:54:50.137Z,1758326090.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770862
2025-09-19T23:54:50.266Z,1758326090.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:50.268Z,1758326090.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:50.271Z,1758326090.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 400.708313 m,
      bearing: 269.989608 deg,
      approach rate: -0.478633 m/s,
      LOS rate: -0.057049 deg/s,
      cmd heading: 267.067445 deg,
      new cmd heading: 267.017132 deg.

2025-09-19T23:54:50.272Z,1758326090.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660328 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:50.394Z,1758326090.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027557
2025-09-19T23:54:50.638Z,1758326090.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:50.640Z,1758326090.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 400.526520 m,
      bearing: 269.968635 deg,
      approach rate: -0.491675 m/s,
      LOS rate: -0.056747 deg/s,
      cmd heading: 267.017120 deg,
      new cmd heading: 266.975157 deg.

2025-09-19T23:54:50.641Z,1758326090.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659595 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:50.645Z,1758326090.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278845
2025-09-19T23:54:50.897Z,1758326090.897 [DAT](INFO): DAT read: Rx Time:23:54:51.6469

2025-09-19T23:54:50.897Z,1758326090.897 [DAT](INFO): Rx dataTimestamp_ set to:1758326090.897182
2025-09-19T23:54:50.898Z,1758326090.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531859
2025-09-19T23:54:51.045Z,1758326091.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.45 m.
2025-09-19T23:54:51.054Z,1758326091.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.446777 m,
      nav range: 400.325684 m,
      bearing: 269.946212 deg,
      approach rate: -0.494443 m/s,
      LOS rate: -0.055232 deg/s,
      cmd heading: 266.975156 deg,
      new cmd heading: 266.930287 deg.

2025-09-19T23:54:51.074Z,1758326091.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658813 target range: 406.446777 and range: 407.40 m.
2025-09-19T23:54:51.150Z,1758326091.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783625
2025-09-19T23:54:51.407Z,1758326091.407 [DAT](INFO): DAT read: 23:54:51.6469 LVL= 29328, 32753, 22994, 32755, AGC= 72, IDX= 305, 0.27, 3.129, 1.570,-2.656, 2.987, PHS= 0.245,-1.372, 0.597, RAW= 159.6,   5.9, CAL= 158.9,   5.5, ROT= 351.1,  -5.5

2025-09-19T23:54:51.408Z,1758326091.408 [DAT](INFO): got valid direction response:
 23:54:51.6469 LVL= 29328, 32753, 22994, 32755, AGC= 72, IDX= 305, 0.27, 3.129, 1.570,-2.656, 2.987, PHS= 0.245,-1.372, 0.597, RAW= 159.6,   5.9, CAL= 158.9,   5.5, ROT= 351.1,  -5.5

2025-09-19T23:54:51.409Z,1758326091.409 [DAT](INFO): DAT read: Bearing  88.1,  -2.8 (Local)

2025-09-19T23:54:51.409Z,1758326091.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.1,  -2.8 (Local)

2025-09-19T23:54:51.410Z,1758326091.410 [DAT](INFO): DAT read: Range 11 to 50 : 397.5 m  (Round-trip  530.1 ms) speed  0.4 m/s

2025-09-19T23:54:51.411Z,1758326091.411 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:51.412Z,1758326091.412 [DAT](INFO): direction in FSK: [0.983411,-0.153998,0.095846]
2025-09-19T23:54:51.412Z,1758326091.412 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:51.416Z,1758326091.416 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:51.416Z,1758326091.416 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:51.417Z,1758326091.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:51.579Z,1758326091.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 397.500000 m,
      deltaT: 4.288211 s,
      deltaX: -9.899994 m,
      approachRate: -2.308654 m/s,
      rangeRepo size: 4

2025-09-19T23:54:51.581Z,1758326091.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 396.565063 m,
      bearing: 273.798505 deg,
      lat: 36.779427 deg,
      lon: -121.859748 deg,
      deltaT: 4.288211 s,
      deltaX: -9.881714 m,
      approachRate: -2.304391 m/s,
      posRepo size: 4

2025-09-19T23:54:51.582Z,1758326091.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:51.584Z,1758326091.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 400.063751 m,
      bearing: 269.916837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055232 deg/s,
      cmd heading: 266.930295 deg,
      new cmd heading: 266.871283 deg.

2025-09-19T23:54:51.585Z,1758326091.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657783 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:51.656Z,1758326091.656 [DAT](INFO): DAT read: user:577>

2025-09-19T23:54:51.657Z,1758326091.657 [DAT](INFO): DAT read: Tx time:23:54:53.0126

2025-09-19T23:54:51.657Z,1758326091.657 [DAT](INFO): Ping request sent.
2025-09-19T23:54:51.657Z,1758326091.657 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:51.657Z,1758326091.657 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:51.658Z,1758326091.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-09-19T23:54:51.905Z,1758326091.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247688
2025-09-19T23:54:51.971Z,1758326091.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:51.977Z,1758326091.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 399.867371 m,
      bearing: 269.896248 deg,
      approach rate: -0.500289 m/s,
      LOS rate: -0.052476 deg/s,
      cmd heading: 266.871282 deg,
      new cmd heading: 266.830085 deg.

2025-09-19T23:54:51.978Z,1758326091.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657063 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:52.157Z,1758326092.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499934
2025-09-19T23:54:52.407Z,1758326092.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:52.409Z,1758326092.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751834
2025-09-19T23:54:52.414Z,1758326092.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:52.420Z,1758326092.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 399.644653 m,
      bearing: 269.873566 deg,
      approach rate: -0.502786 m/s,
      LOS rate: -0.051235 deg/s,
      cmd heading: 266.830083 deg,
      new cmd heading: 266.784692 deg.

2025-09-19T23:54:52.421Z,1758326092.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656271 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:52.662Z,1758326092.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004298
2025-09-19T23:54:52.786Z,1758326092.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:52.789Z,1758326092.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 399.451111 m,
      bearing: 269.854517 deg,
      approach rate: -0.520055 m/s,
      LOS rate: -0.051209 deg/s,
      cmd heading: 266.784703 deg,
      new cmd heading: 266.746587 deg.

2025-09-19T23:54:52.790Z,1758326092.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655606 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:52.913Z,1758326092.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255685
2025-09-19T23:54:53.165Z,1758326093.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507727
2025-09-19T23:54:53.270Z,1758326093.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:53.277Z,1758326093.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 399.213196 m,
      bearing: 269.830884 deg,
      approach rate: -0.490822 m/s,
      LOS rate: -0.048785 deg/s,
      cmd heading: 266.746590 deg,
      new cmd heading: 266.699295 deg.

2025-09-19T23:54:53.278Z,1758326093.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654781 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:53.417Z,1758326093.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759728
2025-09-19T23:54:53.634Z,1758326093.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:53.637Z,1758326093.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 399.023590 m,
      bearing: 269.813309 deg,
      approach rate: -0.521164 m/s,
      LOS rate: -0.048331 deg/s,
      cmd heading: 266.699298 deg,
      new cmd heading: 266.664131 deg.

2025-09-19T23:54:53.638Z,1758326093.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654167 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:53.669Z,1758326093.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011842
2025-09-19T23:54:53.921Z,1758326093.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263694
2025-09-19T23:54:54.003Z,1758326094.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:54.006Z,1758326094.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 398.841553 m,
      bearing: 269.797004 deg,
      approach rate: -0.493812 m/s,
      LOS rate: -0.044249 deg/s,
      cmd heading: 266.664136 deg,
      new cmd heading: 266.631513 deg.

2025-09-19T23:54:54.007Z,1758326094.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653598 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:54.173Z,1758326094.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515845
2025-09-19T23:54:54.425Z,1758326094.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767664
2025-09-19T23:54:54.448Z,1758326094.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:54.450Z,1758326094.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:54.454Z,1758326094.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 398.623444 m,
      bearing: 269.778077 deg,
      approach rate: -0.487408 m/s,
      LOS rate: -0.042319 deg/s,
      cmd heading: 266.631515 deg,
      new cmd heading: 266.593641 deg.

2025-09-19T23:54:54.455Z,1758326094.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652937 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:54.678Z,1758326094.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020784
2025-09-19T23:54:54.872Z,1758326094.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:54.875Z,1758326094.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 398.411591 m,
      bearing: 269.760285 deg,
      approach rate: -0.507234 m/s,
      LOS rate: -0.042622 deg/s,
      cmd heading: 266.593649 deg,
      new cmd heading: 266.558045 deg.

2025-09-19T23:54:54.885Z,1758326094.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652316 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:54.929Z,1758326094.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271781
2025-09-19T23:54:55.181Z,1758326095.181 [DAT](INFO): DAT read: Rx Time:23:54:55.9549

2025-09-19T23:54:55.182Z,1758326095.182 [DAT](INFO): Rx dataTimestamp_ set to:1758326095.181379
2025-09-19T23:54:55.182Z,1758326095.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525003
2025-09-19T23:54:55.305Z,1758326095.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.57 m.
2025-09-19T23:54:55.308Z,1758326095.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.565063 m,
      nav range: 398.188141 m,
      bearing: 269.742607 deg,
      approach rate: -0.511200 m/s,
      LOS rate: -0.040466 deg/s,
      cmd heading: 266.558050 deg,
      new cmd heading: 266.522674 deg.

2025-09-19T23:54:55.309Z,1758326095.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651698 target range: 396.565063 and range: 397.50 m.
2025-09-19T23:54:55.433Z,1758326095.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775661
2025-09-19T23:54:55.698Z,1758326095.698 [DAT](INFO): DAT read: 23:54:55.9549 LVL= 13424, 14689, 11890, 14403, AGC= 72, IDX=  19, 0.38,-1.027,-2.399,-0.784,-1.663, PHS= 0.738,-0.690, 0.836, RAW= 153.3, -11.9, CAL= 154.4, -13.7, ROT= 355.6,  13.7

2025-09-19T23:54:55.699Z,1758326095.699 [DAT](INFO): got valid direction response:
 23:54:55.9549 LVL= 13424, 14689, 11890, 14403, AGC= 72, IDX=  19, 0.38,-1.027,-2.399,-0.784,-1.663, PHS= 0.738,-0.690, 0.836, RAW= 153.3, -11.9, CAL= 154.4, -13.7, ROT= 355.6,  13.7

2025-09-19T23:54:55.700Z,1758326095.700 [DAT](INFO): DAT read: Bearing  58.9,   3.6 (Local)

2025-09-19T23:54:55.700Z,1758326095.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.9,   3.6 (Local)

2025-09-19T23:54:55.702Z,1758326095.702 [DAT](INFO): DAT read: Range 11 to 50 : 403.5 m  (Round-trip  538.1 ms) speed  0.5 m/s

2025-09-19T23:54:55.702Z,1758326095.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:54:55.703Z,1758326095.703 [DAT](INFO): direction in FSK: [0.968686,-0.074536,-0.236838]
2025-09-19T23:54:55.703Z,1758326095.703 [DAT](INFO): publishing direction and range info
2025-09-19T23:54:55.757Z,1758326095.757 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:55.757Z,1758326095.757 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:55.757Z,1758326095.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:54:55.878Z,1758326095.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 403.500000 m,
      deltaT: 4.283678 s,
      deltaX: 6.000000 m,
      approachRate: 1.400666 m/s,
      rangeRepo size: 4

2025-09-19T23:54:55.884Z,1758326095.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 402.551819 m,
      bearing: 266.309237 deg,
      lat: 36.779348 deg,
      lon: -121.859748 deg,
      deltaT: 4.283678 s,
      deltaX: 5.986755 m,
      approachRate: 1.397574 m/s,
      posRepo size: 4

2025-09-19T23:54:55.885Z,1758326095.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:55.896Z,1758326095.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 398.054993 m,
      bearing: 268.446810 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040466 deg/s,
      cmd heading: 266.522669 deg,
      new cmd heading: 266.476346 deg.

2025-09-19T23:54:55.897Z,1758326095.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650889 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:55.937Z,1758326095.937 [DAT](INFO): DAT read: user:578>

2025-09-19T23:54:55.938Z,1758326095.938 [DAT](INFO): DAT read: Tx time:23:54:57.3126

2025-09-19T23:54:55.938Z,1758326095.938 [DAT](INFO): Ping request sent.
2025-09-19T23:54:55.938Z,1758326095.938 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:54:55.938Z,1758326095.938 [DAT](INFO): publishing transmit ping time
2025-09-19T23:54:55.939Z,1758326095.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-09-19T23:54:56.189Z,1758326096.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251267
2025-09-19T23:54:56.285Z,1758326096.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:56.288Z,1758326096.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 397.844635 m,
      bearing: 268.431150 deg,
      approach rate: -0.515778 m/s,
      LOS rate: -0.038419 deg/s,
      cmd heading: 266.476333 deg,
      new cmd heading: 266.444996 deg.

2025-09-19T23:54:56.289Z,1758326096.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650342 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:56.441Z,1758326096.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503259
2025-09-19T23:54:56.638Z,1758326096.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:56.641Z,1758326096.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:56.643Z,1758326096.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 397.669098 m,
      bearing: 268.418461 deg,
      approach rate: -0.493939 m/s,
      LOS rate: -0.035720 deg/s,
      cmd heading: 266.444997 deg,
      new cmd heading: 266.419608 deg.

2025-09-19T23:54:56.661Z,1758326096.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649899 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:56.693Z,1758326096.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755154
2025-09-19T23:54:56.945Z,1758326096.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006978
2025-09-19T23:54:57.058Z,1758326097.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:57.061Z,1758326097.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 397.461395 m,
      bearing: 268.403846 deg,
      approach rate: -0.497859 m/s,
      LOS rate: -0.035048 deg/s,
      cmd heading: 266.419616 deg,
      new cmd heading: 266.390372 deg.

2025-09-19T23:54:57.062Z,1758326097.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649389 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:57.200Z,1758326097.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261379
2025-09-19T23:54:57.449Z,1758326097.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511191
2025-09-19T23:54:57.489Z,1758326097.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:57.496Z,1758326097.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 397.266174 m,
      bearing: 268.390604 deg,
      approach rate: -0.452862 m/s,
      LOS rate: -0.030734 deg/s,
      cmd heading: 266.390382 deg,
      new cmd heading: 266.363885 deg.

2025-09-19T23:54:57.497Z,1758326097.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648927 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:57.701Z,1758326097.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762951
2025-09-19T23:54:57.875Z,1758326097.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:57.878Z,1758326097.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 397.074127 m,
      bearing: 268.377563 deg,
      approach rate: -0.497163 m/s,
      LOS rate: -0.033778 deg/s,
      cmd heading: 266.363881 deg,
      new cmd heading: 266.337785 deg.

2025-09-19T23:54:57.879Z,1758326097.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648471 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:57.953Z,1758326097.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015003
2025-09-19T23:54:58.208Z,1758326098.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269276
2025-09-19T23:54:58.289Z,1758326098.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:58.292Z,1758326098.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 396.873840 m,
      bearing: 268.364565 deg,
      approach rate: -0.483831 m/s,
      LOS rate: -0.031415 deg/s,
      cmd heading: 266.337790 deg,
      new cmd heading: 266.311781 deg.

2025-09-19T23:54:58.293Z,1758326098.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648017 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:58.457Z,1758326098.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518915
2025-09-19T23:54:58.675Z,1758326098.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:54:58.677Z,1758326098.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:58.680Z,1758326098.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 396.687286 m,
      bearing: 268.352705 deg,
      approach rate: -0.480805 m/s,
      LOS rate: -0.030581 deg/s,
      cmd heading: 266.311780 deg,
      new cmd heading: 266.288050 deg.

2025-09-19T23:54:58.681Z,1758326098.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647603 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:58.710Z,1758326098.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771878
2025-09-19T23:54:58.961Z,1758326098.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022860
2025-09-19T23:54:59.097Z,1758326099.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:59.100Z,1758326099.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 396.484985 m,
      bearing: 268.339830 deg,
      approach rate: -0.481764 m/s,
      LOS rate: -0.030675 deg/s,
      cmd heading: 266.288039 deg,
      new cmd heading: 266.262277 deg.

2025-09-19T23:54:59.101Z,1758326099.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647153 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:59.216Z,1758326099.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277505
2025-09-19T23:54:59.470Z,1758326099.470 [DAT](INFO): DAT read: 23:55:00.2633 LVL= 12112, 12849, 13186, 15331, AGC= 70, IDX=   8, 0.35,-1.079,-2.504,-1.025,-1.788, PHS= 0.811,-0.671, 0.718, RAW= 146.8, -11.9, CAL= 147.6, -14.0, ROT=   2.4,  14.0

2025-09-19T23:54:59.471Z,1758326099.471 [DAT](INFO): got valid direction response:
 23:55:00.2633 LVL= 12112, 12849, 13186, 15331, AGC= 70, IDX=   8, 0.35,-1.079,-2.504,-1.025,-1.788, PHS= 0.811,-0.671, 0.718, RAW= 146.8, -11.9, CAL= 147.6, -14.0, ROT=   2.4,  14.0

2025-09-19T23:54:59.472Z,1758326099.472 [DAT](INFO): DAT read: Rx Time:23:55:00.2633

2025-09-19T23:54:59.472Z,1758326099.472 [DAT](INFO): Rx dataTimestamp_ set to:1758326099.472156
2025-09-19T23:54:59.473Z,1758326099.473 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-19T23:54:59.473Z,1758326099.473 [DAT](INFO): Received low SNR in chirp
2025-09-19T23:54:59.484Z,1758326099.484 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-19T23:54:59.485Z,1758326099.485 [DAT](INFO): direction in FSK: [0.969445,0.040632,-0.241922]
2025-09-19T23:54:59.488Z,1758326099.488 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:59.488Z,1758326099.488 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:59.488Z,1758326099.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:54:59.568Z,1758326099.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:59.571Z,1758326099.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 396.263428 m,
      bearing: 268.326514 deg,
      approach rate: -0.474727 m/s,
      LOS rate: -0.028549 deg/s,
      cmd heading: 266.262275 deg,
      new cmd heading: 266.235627 deg.

2025-09-19T23:54:59.577Z,1758326099.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646688 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:59.718Z,1758326099.718 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:59.718Z,1758326099.718 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:59.719Z,1758326099.719 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:54:59.880Z,1758326099.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:54:59.883Z,1758326099.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 396.105957 m,
      bearing: 268.317204 deg,
      approach rate: -0.497390 m/s,
      LOS rate: -0.029418 deg/s,
      cmd heading: 266.235638 deg,
      new cmd heading: 266.217011 deg.

2025-09-19T23:54:59.889Z,1758326099.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646363 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:54:59.969Z,1758326099.969 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:54:59.969Z,1758326099.969 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:54:59.969Z,1758326099.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:00.223Z,1758326100.223 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:00.223Z,1758326100.223 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:00.224Z,1758326100.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:00.319Z,1758326100.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:00.334Z,1758326100.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 395.887299 m,
      bearing: 268.304331 deg,
      approach rate: -0.498925 m/s,
      LOS rate: -0.029390 deg/s,
      cmd heading: 266.217005 deg,
      new cmd heading: 266.191244 deg.

2025-09-19T23:55:00.335Z,1758326100.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645914 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:00.473Z,1758326100.473 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:00.473Z,1758326100.473 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:00.473Z,1758326100.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:00.706Z,1758326100.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:00.715Z,1758326100.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:00.725Z,1758326100.725 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:00.725Z,1758326100.725 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:00.725Z,1758326100.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:00.729Z,1758326100.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 395.702271 m,
      bearing: 268.293552 deg,
      approach rate: -0.467866 m/s,
      LOS rate: -0.027267 deg/s,
      cmd heading: 266.191241 deg,
      new cmd heading: 266.169674 deg.

2025-09-19T23:55:00.730Z,1758326100.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645537 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:00.980Z,1758326100.980 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:00.980Z,1758326100.980 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:00.980Z,1758326100.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:01.116Z,1758326101.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:01.119Z,1758326101.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 395.496582 m,
      bearing: 268.281685 deg,
      approach rate: -0.533429 m/s,
      LOS rate: -0.030792 deg/s,
      cmd heading: 266.169685 deg,
      new cmd heading: 266.145939 deg.

2025-09-19T23:55:01.120Z,1758326101.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645123 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:01.232Z,1758326101.232 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:01.232Z,1758326101.232 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:01.233Z,1758326101.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:01.481Z,1758326101.481 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:01.481Z,1758326101.481 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:01.481Z,1758326101.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:01.520Z,1758326101.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:55:01.562Z,1758326101.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:01.564Z,1758326101.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 395.259064 m,
      bearing: 268.267365 deg,
      approach rate: -0.514329 m/s,
      LOS rate: -0.031028 deg/s,
      cmd heading: 266.145944 deg,
      new cmd heading: 266.117286 deg.

2025-09-19T23:55:01.565Z,1758326101.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644623 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:01.733Z,1758326101.733 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:01.733Z,1758326101.733 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:01.734Z,1758326101.734 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:01.918Z,1758326101.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:01.921Z,1758326101.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 395.075226 m,
      bearing: 268.256402 deg,
      approach rate: -0.515228 m/s,
      LOS rate: -0.030740 deg/s,
      cmd heading: 266.117284 deg,
      new cmd heading: 266.095347 deg.

2025-09-19T23:55:01.922Z,1758326101.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644240 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:01.989Z,1758326101.989 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:01.990Z,1758326101.990 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:01.990Z,1758326101.990 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:02.243Z,1758326102.243 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:02.243Z,1758326102.243 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:02.243Z,1758326102.243 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:02.347Z,1758326102.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:02.350Z,1758326102.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 394.846771 m,
      bearing: 268.242893 deg,
      approach rate: -0.532477 m/s,
      LOS rate: -0.031504 deg/s,
      cmd heading: 266.095345 deg,
      new cmd heading: 266.068313 deg.

2025-09-19T23:55:02.351Z,1758326102.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643768 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:02.493Z,1758326102.493 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:02.493Z,1758326102.493 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:02.493Z,1758326102.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:02.524Z,1758326102.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:55:02.734Z,1758326102.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:02.738Z,1758326102.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:02.742Z,1758326102.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 394.641937 m,
      bearing: 268.230834 deg,
      approach rate: -0.525345 m/s,
      LOS rate: -0.030946 deg/s,
      cmd heading: 266.068325 deg,
      new cmd heading: 266.044194 deg.

2025-09-19T23:55:02.743Z,1758326102.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643347 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:02.745Z,1758326102.745 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:02.745Z,1758326102.745 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:02.746Z,1758326102.746 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:02.997Z,1758326102.997 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:02.997Z,1758326102.997 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:02.997Z,1758326102.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:03.126Z,1758326103.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:03.129Z,1758326103.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 394.431915 m,
      bearing: 268.218504 deg,
      approach rate: -0.540384 m/s,
      LOS rate: -0.031742 deg/s,
      cmd heading: 266.044201 deg,
      new cmd heading: 266.019528 deg.

2025-09-19T23:55:03.130Z,1758326103.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642917 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:03.253Z,1758326103.253 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:03.253Z,1758326103.253 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:03.253Z,1758326103.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:03.501Z,1758326103.501 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:03.501Z,1758326103.501 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:03.501Z,1758326103.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:03.573Z,1758326103.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:03.575Z,1758326103.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 394.202271 m,
      bearing: 268.205402 deg,
      approach rate: -0.514153 m/s,
      LOS rate: -0.029352 deg/s,
      cmd heading: 266.019530 deg,
      new cmd heading: 265.993311 deg.

2025-09-19T23:55:03.581Z,1758326103.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642459 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:03.753Z,1758326103.753 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:03.753Z,1758326103.753 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:03.754Z,1758326103.754 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:03.932Z,1758326103.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:03.934Z,1758326103.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 394.006134 m,
      bearing: 268.194227 deg,
      approach rate: -0.546384 m/s,
      LOS rate: -0.031145 deg/s,
      cmd heading: 265.993302 deg,
      new cmd heading: 265.970942 deg.

2025-09-19T23:55:03.935Z,1758326103.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642069 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:04.006Z,1758326104.006 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:04.007Z,1758326104.007 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:04.007Z,1758326104.007 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:04.260Z,1758326104.260 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:04.261Z,1758326104.261 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:04.261Z,1758326104.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:04.361Z,1758326104.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:04.365Z,1758326104.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 393.777191 m,
      bearing: 268.181689 deg,
      approach rate: -0.533127 m/s,
      LOS rate: -0.029213 deg/s,
      cmd heading: 265.970954 deg,
      new cmd heading: 265.945864 deg.

2025-09-19T23:55:04.366Z,1758326104.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641631 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:04.509Z,1758326104.509 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:04.509Z,1758326104.509 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:04.509Z,1758326104.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:04.761Z,1758326104.761 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:04.761Z,1758326104.761 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:04.761Z,1758326104.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:04.763Z,1758326104.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:04.765Z,1758326104.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:04.768Z,1758326104.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 393.563782 m,
      bearing: 268.169987 deg,
      approach rate: -0.528343 m/s,
      LOS rate: -0.028987 deg/s,
      cmd heading: 265.945874 deg,
      new cmd heading: 265.922457 deg.

2025-09-19T23:55:04.769Z,1758326104.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641222 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:05.014Z,1758326105.014 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:05.014Z,1758326105.014 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:05.014Z,1758326105.014 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:05.267Z,1758326105.267 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:05.267Z,1758326105.267 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:05.268Z,1758326105.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:05.322Z,1758326105.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:05.329Z,1758326105.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 393.296936 m,
      bearing: 268.155294 deg,
      approach rate: -0.479332 m/s,
      LOS rate: -0.026412 deg/s,
      cmd heading: 265.922460 deg,
      new cmd heading: 265.893052 deg.

2025-09-19T23:55:05.330Z,1758326105.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640709 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:05.517Z,1758326105.517 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:05.517Z,1758326105.517 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:05.517Z,1758326105.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:05.735Z,1758326105.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:05.739Z,1758326105.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 393.058472 m,
      bearing: 268.142250 deg,
      approach rate: -0.577891 m/s,
      LOS rate: -0.031629 deg/s,
      cmd heading: 265.893063 deg,
      new cmd heading: 265.866959 deg.

2025-09-19T23:55:05.742Z,1758326105.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640254 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:05.769Z,1758326105.769 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:05.769Z,1758326105.769 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:05.769Z,1758326105.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:06.021Z,1758326106.021 [DAT](INFO): Reached modem response timeout
2025-09-19T23:55:06.021Z,1758326106.021 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:06.021Z,1758326106.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:06.275Z,1758326106.275 [DAT](INFO): DAT read: 

2025-09-19T23:55:06.276Z,1758326106.276 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:06.310Z,1758326106.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:06.325Z,1758326106.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 392.794586 m,
      bearing: 268.127736 deg,
      approach rate: -0.459278 m/s,
      LOS rate: -0.025277 deg/s,
      cmd heading: 265.866971 deg,
      new cmd heading: 265.837924 deg.

2025-09-19T23:55:06.326Z,1758326106.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639747 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:06.525Z,1758326106.525 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:06.777Z,1758326106.777 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:06.787Z,1758326106.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:06.789Z,1758326106.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:06.792Z,1758326106.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 392.516266 m,
      bearing: 268.113985 deg,
      approach rate: -0.579666 m/s,
      LOS rate: -0.028660 deg/s,
      cmd heading: 265.837929 deg,
      new cmd heading: 265.810408 deg.

2025-09-19T23:55:06.793Z,1758326106.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639267 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:07.029Z,1758326107.029 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:07.125Z,1758326107.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:07.128Z,1758326107.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 392.343536 m,
      bearing: 268.105428 deg,
      approach rate: -0.513937 m/s,
      LOS rate: -0.025473 deg/s,
      cmd heading: 265.810417 deg,
      new cmd heading: 265.793295 deg.

2025-09-19T23:55:07.129Z,1758326107.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638968 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:07.281Z,1758326107.281 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:07.533Z,1758326107.533 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:07.571Z,1758326107.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:07.574Z,1758326107.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 392.114227 m,
      bearing: 268.093637 deg,
      approach rate: -0.514264 m/s,
      LOS rate: -0.026459 deg/s,
      cmd heading: 265.793287 deg,
      new cmd heading: 265.769691 deg.

2025-09-19T23:55:07.575Z,1758326107.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638556 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:07.787Z,1758326107.787 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:07.954Z,1758326107.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:07.957Z,1758326107.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 391.919067 m,
      bearing: 268.083572 deg,
      approach rate: -0.509040 m/s,
      LOS rate: -0.026265 deg/s,
      cmd heading: 265.769682 deg,
      new cmd heading: 265.749542 deg.

2025-09-19T23:55:07.958Z,1758326107.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638205 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:08.038Z,1758326108.038 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:08.292Z,1758326108.292 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:55:08.293Z,1758326108.293 [DAT](INFO): response not received
2025-09-19T23:55:08.295Z,1758326108.295 [DAT](INFO): DAT read: user:580>Tx time:23:55:09.7626

2025-09-19T23:55:08.309Z,1758326108.309 [DAT](ERROR): No response from remote modem.
2025-09-19T23:55:08.309Z,1758326108.309 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:08.310Z,1758326108.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:08.449Z,1758326108.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:08.456Z,1758326108.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 391.662079 m,
      bearing: 268.070622 deg,
      approach rate: -0.519475 m/s,
      LOS rate: -0.026194 deg/s,
      cmd heading: 265.749547 deg,
      new cmd heading: 265.723629 deg.

2025-09-19T23:55:08.457Z,1758326108.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637752 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:08.546Z,1758326108.546 [DAT](INFO): DAT read: 

2025-09-19T23:55:08.546Z,1758326108.546 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:08.758Z,1758326108.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:08.761Z,1758326108.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 391.491364 m,
      bearing: 268.062009 deg,
      approach rate: -0.552750 m/s,
      LOS rate: -0.027899 deg/s,
      cmd heading: 265.723619 deg,
      new cmd heading: 265.706386 deg.

2025-09-19T23:55:08.762Z,1758326108.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637451 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:08.797Z,1758326108.797 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:09.049Z,1758326109.049 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:09.134Z,1758326109.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:09.137Z,1758326109.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:09.139Z,1758326109.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 391.287903 m,
      bearing: 268.051674 deg,
      approach rate: -0.537136 m/s,
      LOS rate: -0.027298 deg/s,
      cmd heading: 265.706380 deg,
      new cmd heading: 265.685700 deg.

2025-09-19T23:55:09.165Z,1758326109.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637090 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:09.303Z,1758326109.303 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:09.553Z,1758326109.553 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:09.566Z,1758326109.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:09.569Z,1758326109.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 391.057709 m,
      bearing: 268.039736 deg,
      approach rate: -0.536347 m/s,
      LOS rate: -0.027831 deg/s,
      cmd heading: 265.685698 deg,
      new cmd heading: 265.661808 deg.

2025-09-19T23:55:09.570Z,1758326109.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636673 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:09.805Z,1758326109.805 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:09.944Z,1758326109.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:09.947Z,1758326109.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 390.855011 m,
      bearing: 268.029199 deg,
      approach rate: -0.535566 m/s,
      LOS rate: -0.027857 deg/s,
      cmd heading: 265.661820 deg,
      new cmd heading: 265.640734 deg.

2025-09-19T23:55:09.948Z,1758326109.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636305 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:10.057Z,1758326110.057 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:10.309Z,1758326110.309 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:10.421Z,1758326110.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:10.423Z,1758326110.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 390.590576 m,
      bearing: 268.015362 deg,
      approach rate: -0.555085 m/s,
      LOS rate: -0.029064 deg/s,
      cmd heading: 265.640728 deg,
      new cmd heading: 265.613037 deg.

2025-09-19T23:55:10.425Z,1758326110.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635822 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:10.561Z,1758326110.561 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:10.767Z,1758326110.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:10.769Z,1758326110.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 390.398773 m,
      bearing: 268.005295 deg,
      approach rate: -0.554560 m/s,
      LOS rate: -0.029123 deg/s,
      cmd heading: 265.613025 deg,
      new cmd heading: 265.592879 deg.

2025-09-19T23:55:10.770Z,1758326110.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635470 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:10.817Z,1758326110.817 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:11.069Z,1758326111.069 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:11.155Z,1758326111.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:11.175Z,1758326111.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:11.184Z,1758326111.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 390.182098 m,
      bearing: 267.993916 deg,
      approach rate: -0.531796 m/s,
      LOS rate: -0.027943 deg/s,
      cmd heading: 265.592889 deg,
      new cmd heading: 265.570119 deg.

2025-09-19T23:55:11.186Z,1758326111.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635073 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:11.321Z,1758326111.321 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:11.573Z,1758326111.573 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:11.582Z,1758326111.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:11.605Z,1758326111.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 389.945221 m,
      bearing: 267.981778 deg,
      approach rate: -0.580561 m/s,
      LOS rate: -0.029767 deg/s,
      cmd heading: 265.570131 deg,
      new cmd heading: 265.545840 deg.

2025-09-19T23:55:11.606Z,1758326111.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634649 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:11.826Z,1758326111.826 [DAT](INFO): DAT read: Rx Time:23:55:12.7057

2025-09-19T23:55:11.826Z,1758326111.826 [DAT](INFO): Rx dataTimestamp_ set to:1758326111.825940
2025-09-19T23:55:11.827Z,1758326111.827 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:11.969Z,1758326111.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.55 m.
2025-09-19T23:55:11.992Z,1758326111.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.551819 m,
      nav range: 389.729279 m,
      bearing: 267.970716 deg,
      approach rate: -0.557550 m/s,
      LOS rate: -0.028577 deg/s,
      cmd heading: 265.545843 deg,
      new cmd heading: 265.523707 deg.

2025-09-19T23:55:11.993Z,1758326111.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634263 target range: 402.551819 and range: 403.50 m.
2025-09-19T23:55:12.077Z,1758326112.077 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:12.342Z,1758326112.342 [DAT](INFO): DAT read: 23:55:12.7056 LVL= 20752, 28193, 23922, 30931, AGC= 70, IDX= 363,-0.39,-0.693,-2.228,-0.559,-1.552, PHS= 0.961,-0.630, 0.949, RAW= 149.6, -15.9, CAL= 151.3, -18.3, ROT= 358.7,  18.3

2025-09-19T23:55:12.345Z,1758326112.345 [DAT](INFO): got valid direction response:
 23:55:12.7056 LVL= 20752, 28193, 23922, 30931, AGC= 70, IDX= 363,-0.39,-0.693,-2.228,-0.559,-1.552, PHS= 0.961,-0.630, 0.949, RAW= 149.6, -15.9, CAL= 151.3, -18.3, ROT= 358.7,  18.3

2025-09-19T23:55:12.347Z,1758326112.347 [DAT](INFO): DAT read: Bearing  44.6,   8.4 (Local)

2025-09-19T23:55:12.349Z,1758326112.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.6,   8.4 (Local)

2025-09-19T23:55:12.382Z,1758326112.382 [DAT](INFO): DAT read: Range 11 to 50 : 404.1 m  (Round-trip  538.9 ms) speed  0.3 m/s

2025-09-19T23:55:12.401Z,1758326112.401 [DAT](INFO): DAT read: Tx time:23:55:13.7704

2025-09-19T23:55:12.402Z,1758326112.402 [DAT](INFO): Ping request sent.
2025-09-19T23:55:12.403Z,1758326112.403 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:55:12.416Z,1758326112.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:12.417Z,1758326112.417 [DAT](INFO): direction in FSK: [0.949181,-0.021540,-0.313992]
2025-09-19T23:55:12.417Z,1758326112.417 [DAT](INFO): publishing transmit ping time
2025-09-19T23:55:12.417Z,1758326112.417 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:12.437Z,1758326112.437 [DAT](INFO): publishing transmit ping time
2025-09-19T23:55:12.437Z,1758326112.437 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:12.558Z,1758326112.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 404.100006 m,
      deltaT: 16.644956 s,
      deltaX: 0.600006 m,
      approachRate: 0.036047 m/s,
      rangeRepo size: 4

2025-09-19T23:55:12.565Z,1758326112.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 403.137573 m,
      bearing: 263.282161 deg,
      lat: 36.779250 deg,
      lon: -121.859768 deg,
      deltaT: 16.644956 s,
      deltaX: 0.585754 m,
      approachRate: 0.035191 m/s,
      posRepo size: 4

2025-09-19T23:55:12.566Z,1758326112.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:12.573Z,1758326112.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 391.704102 m,
      bearing: 266.380845 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028577 deg/s,
      cmd heading: 265.523713 deg,
      new cmd heading: 265.490109 deg.

2025-09-19T23:55:12.574Z,1758326112.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633677 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:12.947Z,1758326112.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:12.950Z,1758326112.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 391.489960 m,
      bearing: 266.368512 deg,
      approach rate: -0.549665 m/s,
      LOS rate: -0.031673 deg/s,
      cmd heading: 265.490109 deg,
      new cmd heading: 265.465430 deg.

2025-09-19T23:55:12.951Z,1758326112.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633246 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:13.549Z,1758326113.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:13.551Z,1758326113.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:13.554Z,1758326113.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 391.163147 m,
      bearing: 266.350119 deg,
      approach rate: -0.540963 m/s,
      LOS rate: -0.030471 deg/s,
      cmd heading: 265.465438 deg,
      new cmd heading: 265.428621 deg.

2025-09-19T23:55:13.555Z,1758326113.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632603 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:13.589Z,1758326113.589 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:13.589Z,1758326113.589 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:13.590Z,1758326113.590 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:13.841Z,1758326113.841 [DAT](INFO): DAT read: user:581>

2025-09-19T23:55:13.841Z,1758326113.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.439065
2025-09-19T23:55:13.922Z,1758326113.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:13.925Z,1758326113.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 390.966370 m,
      bearing: 266.339012 deg,
      approach rate: -0.529914 m/s,
      LOS rate: -0.029928 deg/s,
      cmd heading: 265.428610 deg,
      new cmd heading: 265.406383 deg.

2025-09-19T23:55:13.926Z,1758326113.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632215 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:14.094Z,1758326114.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691506
2025-09-19T23:55:14.345Z,1758326114.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942649
2025-09-19T23:55:14.347Z,1758326114.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:14.350Z,1758326114.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 390.742859 m,
      bearing: 266.326341 deg,
      approach rate: -0.526113 m/s,
      LOS rate: -0.029841 deg/s,
      cmd heading: 265.406371 deg,
      new cmd heading: 265.381016 deg.

2025-09-19T23:55:14.351Z,1758326114.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631773 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:14.597Z,1758326114.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194818
2025-09-19T23:55:14.783Z,1758326114.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:14.785Z,1758326114.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 390.504913 m,
      bearing: 266.313398 deg,
      approach rate: -0.546588 m/s,
      LOS rate: -0.029751 deg/s,
      cmd heading: 265.381017 deg,
      new cmd heading: 265.355114 deg.

2025-09-19T23:55:14.786Z,1758326114.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631320 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:14.849Z,1758326114.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446698
2025-09-19T23:55:15.101Z,1758326115.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698555
2025-09-19T23:55:15.185Z,1758326115.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:15.195Z,1758326115.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 390.296051 m,
      bearing: 266.301970 deg,
      approach rate: -0.518704 m/s,
      LOS rate: -0.028396 deg/s,
      cmd heading: 265.355117 deg,
      new cmd heading: 265.332249 deg.

2025-09-19T23:55:15.196Z,1758326115.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630921 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:15.353Z,1758326115.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950591
2025-09-19T23:55:15.584Z,1758326115.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:15.586Z,1758326115.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:15.589Z,1758326115.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 390.070312 m,
      bearing: 266.289854 deg,
      approach rate: -0.563152 m/s,
      LOS rate: -0.030243 deg/s,
      cmd heading: 265.332249 deg,
      new cmd heading: 265.308004 deg.

2025-09-19T23:55:15.590Z,1758326115.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630498 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:15.616Z,1758326115.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213729
2025-09-19T23:55:15.857Z,1758326115.857 [DAT](INFO): DAT read: Rx Time:23:55:16.6877

2025-09-19T23:55:15.857Z,1758326115.857 [DAT](INFO): Rx dataTimestamp_ set to:1758326115.857089
2025-09-19T23:55:15.858Z,1758326115.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455556
2025-09-19T23:55:15.977Z,1758326115.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:15.980Z,1758326115.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 389.868225 m,
      bearing: 266.278966 deg,
      approach rate: -0.516908 m/s,
      LOS rate: -0.027865 deg/s,
      cmd heading: 265.308016 deg,
      new cmd heading: 265.286228 deg.

2025-09-19T23:55:15.981Z,1758326115.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630118 target range: 403.137573 and range: 404.10 m.
2025-09-19T23:55:16.109Z,1758326116.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.706407
2025-09-19T23:55:16.367Z,1758326116.367 [DAT](INFO): DAT read: 23:55:16.6877 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 436,-0.05, 0.050,-1.661, 0.038,-0.269, PHS= 0.420,-1.347, 0.263, RAW= 145.4,   7.9, CAL= 144.9,   8.6, ROT=   5.1,  -8.6

2025-09-19T23:55:16.368Z,1758326116.368 [DAT](INFO): got valid direction response:
 23:55:16.6877 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 436,-0.05, 0.050,-1.661, 0.038,-0.269, PHS= 0.420,-1.347, 0.263, RAW= 145.4,   7.9, CAL= 144.9,   8.6, ROT=   5.1,  -8.6

2025-09-19T23:55:16.369Z,1758326116.369 [DAT](INFO): DAT read: Bearing  72.0,  14.7 (Local)

2025-09-19T23:55:16.370Z,1758326116.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.0,  14.7 (Local)

2025-09-19T23:55:16.371Z,1758326116.371 [DAT](INFO): DAT read: Range 11 to 50 : 384.9 m  (Round-trip  513.2 ms) speed  0.4 m/s

2025-09-19T23:55:16.372Z,1758326116.372 [DAT](INFO): DAT read: user:582>Tx time:23:55:17.7625

2025-09-19T23:55:16.373Z,1758326116.373 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:16.374Z,1758326116.374 [DAT](INFO): direction in FSK: [0.984842,0.087895,0.149535]
2025-09-19T23:55:16.374Z,1758326116.374 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:16.377Z,1758326116.377 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:16.378Z,1758326116.378 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:16.378Z,1758326116.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:16.397Z,1758326116.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 384.899994 m,
      deltaT: 4.031468 s,
      deltaX: -19.200012 m,
      approachRate: -4.762536 m/s,
      rangeRepo size: 4

2025-09-19T23:55:16.398Z,1758326116.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:16.413Z,1758326116.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 389.653473 m,
      bearing: 266.267342 deg,
      approach rate: -0.511666 m/s,
      LOS rate: -0.027712 deg/s,
      cmd heading: 265.286241 deg,
      new cmd heading: 265.262979 deg.

2025-09-19T23:55:16.419Z,1758326116.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629713 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:16.613Z,1758326116.613 [DAT](INFO): DAT read: 

2025-09-19T23:55:16.614Z,1758326116.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.211166
2025-09-19T23:55:16.826Z,1758326116.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:16.829Z,1758326116.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 389.400818 m,
      bearing: 266.253414 deg,
      approach rate: -0.588776 m/s,
      LOS rate: -0.032478 deg/s,
      cmd heading: 265.262991 deg,
      new cmd heading: 265.235117 deg.

2025-09-19T23:55:16.830Z,1758326116.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629226 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:16.865Z,1758326116.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.463065
2025-09-19T23:55:17.117Z,1758326117.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.714519
2025-09-19T23:55:17.221Z,1758326117.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:17.243Z,1758326117.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 389.181915 m,
      bearing: 266.241329 deg,
      approach rate: -0.553441 m/s,
      LOS rate: -0.030570 deg/s,
      cmd heading: 265.235124 deg,
      new cmd heading: 265.210942 deg.

2025-09-19T23:55:17.245Z,1758326117.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628804 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:17.369Z,1758326117.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.966529
2025-09-19T23:55:17.619Z,1758326117.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:17.621Z,1758326117.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.218599
2025-09-19T23:55:17.623Z,1758326117.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:17.626Z,1758326117.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 388.959076 m,
      bearing: 266.229515 deg,
      approach rate: -0.555316 m/s,
      LOS rate: -0.029458 deg/s,
      cmd heading: 265.210945 deg,
      new cmd heading: 265.187303 deg.

2025-09-19T23:55:17.627Z,1758326117.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628392 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:17.873Z,1758326117.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.470505
2025-09-19T23:55:18.008Z,1758326118.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:18.026Z,1758326118.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 388.742615 m,
      bearing: 266.217996 deg,
      approach rate: -0.562481 m/s,
      LOS rate: -0.029950 deg/s,
      cmd heading: 265.187313 deg,
      new cmd heading: 265.164262 deg.

2025-09-19T23:55:18.027Z,1758326118.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627989 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:18.125Z,1758326118.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.722632
2025-09-19T23:55:18.377Z,1758326118.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.974539
2025-09-19T23:55:18.407Z,1758326118.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:18.410Z,1758326118.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 388.519409 m,
      bearing: 266.206079 deg,
      approach rate: -0.558448 m/s,
      LOS rate: -0.029833 deg/s,
      cmd heading: 265.164254 deg,
      new cmd heading: 265.140406 deg.

2025-09-19T23:55:18.411Z,1758326118.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627573 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:18.629Z,1758326118.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.226469
2025-09-19T23:55:18.838Z,1758326118.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:18.841Z,1758326118.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 388.282288 m,
      bearing: 266.192373 deg,
      approach rate: -0.550533 m/s,
      LOS rate: -0.031840 deg/s,
      cmd heading: 265.140403 deg,
      new cmd heading: 265.112975 deg.

2025-09-19T23:55:18.842Z,1758326118.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627094 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:18.882Z,1758326118.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.479184
2025-09-19T23:55:19.133Z,1758326119.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.730502
2025-09-19T23:55:19.214Z,1758326119.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:19.217Z,1758326119.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 388.074951 m,
      bearing: 266.180368 deg,
      approach rate: -0.550863 m/s,
      LOS rate: -0.031913 deg/s,
      cmd heading: 265.112973 deg,
      new cmd heading: 265.088950 deg.

2025-09-19T23:55:19.218Z,1758326119.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626675 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:19.385Z,1758326119.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.982852
2025-09-19T23:55:19.637Z,1758326119.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.234536
2025-09-19T23:55:19.715Z,1758326119.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:19.734Z,1758326119.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:19.742Z,1758326119.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 387.796722 m,
      bearing: 266.164376 deg,
      approach rate: -0.536073 m/s,
      LOS rate: -0.030835 deg/s,
      cmd heading: 265.088958 deg,
      new cmd heading: 265.056950 deg.

2025-09-19T23:55:19.743Z,1758326119.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626116 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:19.889Z,1758326119.889 [DAT](INFO): DAT read: Rx Time:23:55:20.7000

2025-09-19T23:55:19.889Z,1758326119.889 [DAT](INFO): Rx dataTimestamp_ set to:1758326119.889059
2025-09-19T23:55:19.890Z,1758326119.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.487515
2025-09-19T23:55:20.072Z,1758326120.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.14 m.
2025-09-19T23:55:20.075Z,1758326120.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.137573 m,
      nav range: 387.598450 m,
      bearing: 266.152966 deg,
      approach rate: -0.585743 m/s,
      LOS rate: -0.033724 deg/s,
      cmd heading: 265.056938 deg,
      new cmd heading: 265.034107 deg.

2025-09-19T23:55:20.076Z,1758326120.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625718 target range: 403.137573 and range: 384.90 m.
2025-09-19T23:55:20.144Z,1758326120.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.740908
2025-09-19T23:55:20.398Z,1758326120.398 [DAT](INFO): DAT read: 23:55:20.7000 LVL= 23568, 27073, 26434, 31539, AGC= 74, IDX= 129, 0.37, 1.106,-0.508, 1.241, 0.262, PHS= 0.946,-0.725, 0.935, RAW= 149.7, -13.8, CAL= 151.0, -16.0, ROT= 359.0,  16.0

2025-09-19T23:55:20.400Z,1758326120.399 [DAT](INFO): got valid direction response:
 23:55:20.7000 LVL= 23568, 27073, 26434, 31539, AGC= 74, IDX= 129, 0.37, 1.106,-0.508, 1.241, 0.262, PHS= 0.946,-0.725, 0.935, RAW= 149.7, -13.8, CAL= 151.0, -16.0, ROT= 359.0,  16.0

2025-09-19T23:55:20.401Z,1758326120.401 [DAT](INFO): DAT read: Bearing  47.0,   8.3 (Local)

2025-09-19T23:55:20.401Z,1758326120.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.0,   8.3 (Local)

2025-09-19T23:55:20.402Z,1758326120.402 [DAT](INFO): DAT read: Range 11 to 50 : 399.9 m  (Round-trip  533.3 ms) speed  0.4 m/s

2025-09-19T23:55:20.403Z,1758326120.403 [DAT](INFO): DAT read: Tx time:23:55:21.7641

2025-09-19T23:55:20.404Z,1758326120.404 [DAT](INFO): Ping request sent.
2025-09-19T23:55:20.404Z,1758326120.404 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:55:20.404Z,1758326120.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:20.405Z,1758326120.405 [DAT](INFO): direction in FSK: [0.961115,-0.016777,-0.275637]
2025-09-19T23:55:20.405Z,1758326120.405 [DAT](INFO): publishing transmit ping time
2025-09-19T23:55:20.405Z,1758326120.405 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:20.409Z,1758326120.409 [DAT](INFO): publishing transmit ping time
2025-09-19T23:55:20.409Z,1758326120.409 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:20.650Z,1758326120.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 399.899994 m,
      deltaT: 4.031589 s,
      deltaX: 15.000000 m,
      approachRate: 3.720617 m/s,
      rangeRepo size: 4

2025-09-19T23:55:20.658Z,1758326120.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 398.941864 m,
      bearing: 264.208266 deg,
      lat: 36.779213 deg,
      lon: -121.859768 deg,
      deltaT: 8.063057 s,
      deltaX: -4.195709 m,
      approachRate: -0.520362 m/s,
      posRepo size: 4

2025-09-19T23:55:20.659Z,1758326120.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:20.672Z,1758326120.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 387.593933 m,
      bearing: 265.521862 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033724 deg/s,
      cmd heading: 265.034098 deg,
      new cmd heading: 264.995574 deg.

2025-09-19T23:55:20.673Z,1758326120.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625045 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:21.020Z,1758326121.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:21.023Z,1758326121.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 387.371613 m,
      bearing: 265.508737 deg,
      approach rate: -0.589057 m/s,
      LOS rate: -0.034796 deg/s,
      cmd heading: 264.995576 deg,
      new cmd heading: 264.969311 deg.

2025-09-19T23:55:21.024Z,1758326121.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624587 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:21.407Z,1758326121.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:21.410Z,1758326121.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 387.159149 m,
      bearing: 265.496185 deg,
      approach rate: -0.549107 m/s,
      LOS rate: -0.032459 deg/s,
      cmd heading: 264.969320 deg,
      new cmd heading: 264.944202 deg.

2025-09-19T23:55:21.411Z,1758326121.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624149 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:21.830Z,1758326121.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:21.832Z,1758326121.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:21.835Z,1758326121.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 386.920746 m,
      bearing: 265.482057 deg,
      approach rate: -0.561685 m/s,
      LOS rate: -0.033305 deg/s,
      cmd heading: 264.944213 deg,
      new cmd heading: 264.915941 deg.

2025-09-19T23:55:21.852Z,1758326121.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623655 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:21.906Z,1758326121.906 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:21.906Z,1758326121.906 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:21.906Z,1758326121.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:22.158Z,1758326122.158 [DAT](INFO): DAT read: user:583>

2025-09-19T23:55:22.159Z,1758326122.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755083
2025-09-19T23:55:22.237Z,1758326122.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:22.244Z,1758326122.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 386.700195 m,
      bearing: 265.468963 deg,
      approach rate: -0.544045 m/s,
      LOS rate: -0.032319 deg/s,
      cmd heading: 264.915936 deg,
      new cmd heading: 264.889732 deg.

2025-09-19T23:55:22.245Z,1758326122.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623198 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:22.409Z,1758326122.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005510
2025-09-19T23:55:22.662Z,1758326122.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258312
2025-09-19T23:55:22.681Z,1758326122.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:22.683Z,1758326122.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 386.450256 m,
      bearing: 265.454201 deg,
      approach rate: -0.563466 m/s,
      LOS rate: -0.033302 deg/s,
      cmd heading: 264.889735 deg,
      new cmd heading: 264.860191 deg.

2025-09-19T23:55:22.697Z,1758326122.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622683 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:22.913Z,1758326122.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509171
2025-09-19T23:55:23.081Z,1758326123.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:23.084Z,1758326123.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 386.228699 m,
      bearing: 265.441098 deg,
      approach rate: -0.553534 m/s,
      LOS rate: -0.032753 deg/s,
      cmd heading: 264.860201 deg,
      new cmd heading: 264.833982 deg.

2025-09-19T23:55:23.085Z,1758326123.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622225 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:23.165Z,1758326123.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761492
2025-09-19T23:55:23.417Z,1758326123.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013241
2025-09-19T23:55:23.475Z,1758326123.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:23.478Z,1758326123.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 386.010651 m,
      bearing: 265.428168 deg,
      approach rate: -0.553512 m/s,
      LOS rate: -0.032842 deg/s,
      cmd heading: 264.833973 deg,
      new cmd heading: 264.808098 deg.

2025-09-19T23:55:23.479Z,1758326123.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621773 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:23.669Z,1758326123.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265207
2025-09-19T23:55:23.909Z,1758326123.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:23.911Z,1758326123.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:23.921Z,1758326123.921 [DAT](INFO): DAT read: Rx Time:23:55:24.6873

2025-09-19T23:55:23.922Z,1758326123.922 [DAT](INFO): Rx dataTimestamp_ set to:1758326123.921226
2025-09-19T23:55:23.922Z,1758326123.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518382
2025-09-19T23:55:23.929Z,1758326123.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 385.771545 m,
      bearing: 265.414485 deg,
      approach rate: -0.548484 m/s,
      LOS rate: -0.031406 deg/s,
      cmd heading: 264.808101 deg,
      new cmd heading: 264.780718 deg.

2025-09-19T23:55:23.930Z,1758326123.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621295 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:24.173Z,1758326124.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769749
2025-09-19T23:55:24.311Z,1758326124.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.94 m.
2025-09-19T23:55:24.314Z,1758326124.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.941864 m,
      nav range: 385.543091 m,
      bearing: 265.401406 deg,
      approach rate: -0.571422 m/s,
      LOS rate: -0.032735 deg/s,
      cmd heading: 264.780725 deg,
      new cmd heading: 264.754550 deg.

2025-09-19T23:55:24.314Z,1758326124.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620839 target range: 398.941864 and range: 399.90 m.
2025-09-19T23:55:24.431Z,1758326124.431 [DAT](INFO): DAT read: 23:55:24.6873 LVL= 25072, 30369, 29522, 29555, AGC= 72, IDX=  31, 0.17,-1.901, 2.670,-1.884,-2.233, PHS= 0.434,-1.335, 0.305, RAW= 146.3,   7.0, CAL= 145.8,   7.6, ROT=   4.2,  -7.6

2025-09-19T23:55:24.432Z,1758326124.432 [DAT](INFO): got valid direction response:
 23:55:24.6873 LVL= 25072, 30369, 29522, 29555, AGC= 72, IDX=  31, 0.17,-1.901, 2.670,-1.884,-2.233, PHS= 0.434,-1.335, 0.305, RAW= 146.3,   7.0, CAL= 145.8,   7.6, ROT=   4.2,  -7.6

2025-09-19T23:55:24.433Z,1758326124.433 [DAT](INFO): DAT read: Bearing  70.8,  12.7 (Local)

2025-09-19T23:55:24.433Z,1758326124.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.8,  12.7 (Local)

2025-09-19T23:55:24.435Z,1758326124.435 [DAT](INFO): DAT read: Range 11 to 50 : 389.2 m  (Round-trip  519.0 ms) speed  1.0 m/s

2025-09-19T23:55:24.436Z,1758326124.436 [DAT](INFO): DAT read: user:584>Tx time:23:55:25.7625

2025-09-19T23:55:24.436Z,1758326124.436 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:24.437Z,1758326124.437 [DAT](INFO): direction in FSK: [0.988554,0.072595,0.132256]
2025-09-19T23:55:24.437Z,1758326124.437 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:24.446Z,1758326124.446 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:24.446Z,1758326124.446 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:24.446Z,1758326124.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:24.677Z,1758326124.677 [DAT](INFO): DAT read: 

2025-09-19T23:55:24.678Z,1758326124.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273943
2025-09-19T23:55:24.733Z,1758326124.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 389.200012 m,
      deltaT: 4.032036 s,
      deltaX: -10.699982 m,
      approachRate: -2.653742 m/s,
      rangeRepo size: 4

2025-09-19T23:55:24.749Z,1758326124.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 388.261139 m,
      bearing: 270.166129 deg,
      lat: 36.779213 deg,
      lon: -121.859768 deg,
      deltaT: 4.032036 s,
      deltaX: -10.680725 m,
      approachRate: -2.648966 m/s,
      posRepo size: 4

2025-09-19T23:55:24.750Z,1758326124.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:24.758Z,1758326124.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 385.310425 m,
      bearing: 265.388188 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032735 deg/s,
      cmd heading: 264.754552 deg,
      new cmd heading: 264.727009 deg.

2025-09-19T23:55:24.759Z,1758326124.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620358 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:24.930Z,1758326124.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526150
2025-09-19T23:55:25.080Z,1758326125.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:25.083Z,1758326125.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 385.109039 m,
      bearing: 265.376766 deg,
      approach rate: -0.578008 m/s,
      LOS rate: -0.032799 deg/s,
      cmd heading: 264.727013 deg,
      new cmd heading: 264.704157 deg.

2025-09-19T23:55:25.084Z,1758326125.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619959 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:25.181Z,1758326125.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777257
2025-09-19T23:55:25.433Z,1758326125.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029196
2025-09-19T23:55:25.476Z,1758326125.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:25.479Z,1758326125.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 384.885406 m,
      bearing: 265.364100 deg,
      approach rate: -0.564585 m/s,
      LOS rate: -0.031996 deg/s,
      cmd heading: 264.704145 deg,
      new cmd heading: 264.678798 deg.

2025-09-19T23:55:25.480Z,1758326125.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619516 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:25.685Z,1758326125.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281535
2025-09-19T23:55:25.912Z,1758326125.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:25.915Z,1758326125.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:25.917Z,1758326125.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 384.629333 m,
      bearing: 265.349323 deg,
      approach rate: -0.583826 m/s,
      LOS rate: -0.033712 deg/s,
      cmd heading: 264.678792 deg,
      new cmd heading: 264.649218 deg.

2025-09-19T23:55:25.918Z,1758326125.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619000 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:25.937Z,1758326125.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533254
2025-09-19T23:55:26.190Z,1758326126.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786539
2025-09-19T23:55:26.285Z,1758326126.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:26.288Z,1758326126.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 384.412170 m,
      bearing: 265.336792 deg,
      approach rate: -0.585975 m/s,
      LOS rate: -0.033833 deg/s,
      cmd heading: 264.649230 deg,
      new cmd heading: 264.624154 deg.

2025-09-19T23:55:26.289Z,1758326126.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618563 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:26.441Z,1758326126.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037238
2025-09-19T23:55:26.693Z,1758326126.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289233
2025-09-19T23:55:26.749Z,1758326126.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:26.757Z,1758326126.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 384.161469 m,
      bearing: 265.321921 deg,
      approach rate: -0.566037 m/s,
      LOS rate: -0.033598 deg/s,
      cmd heading: 264.624150 deg,
      new cmd heading: 264.594389 deg.

2025-09-19T23:55:26.758Z,1758326126.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618043 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:26.945Z,1758326126.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541152
2025-09-19T23:55:27.092Z,1758326127.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:27.095Z,1758326127.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 383.951843 m,
      bearing: 265.309511 deg,
      approach rate: -0.575784 m/s,
      LOS rate: -0.034105 deg/s,
      cmd heading: 264.594398 deg,
      new cmd heading: 264.569565 deg.

2025-09-19T23:55:27.096Z,1758326127.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617610 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:27.198Z,1758326127.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793759
2025-09-19T23:55:27.449Z,1758326127.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045210
2025-09-19T23:55:27.521Z,1758326127.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:27.525Z,1758326127.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 383.707092 m,
      bearing: 265.295005 deg,
      approach rate: -0.570438 m/s,
      LOS rate: -0.033832 deg/s,
      cmd heading: 264.569563 deg,
      new cmd heading: 264.540531 deg.

2025-09-19T23:55:27.526Z,1758326127.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617103 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:27.701Z,1758326127.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297196
2025-09-19T23:55:27.945Z,1758326127.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:27.947Z,1758326127.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:27.958Z,1758326127.958 [DAT](INFO): DAT read: 23:55:28.6825 LVL= 28064, 32753, 31474, 32755, AGC= 72, IDX= 415,-0.46,-2.224, 2.307,-2.172,-2.538, PHS= 0.416,-1.393, 0.322, RAW= 147.4,   7.5, CAL= 146.9,   8.1, ROT=   3.1,  -8.1

2025-09-19T23:55:27.959Z,1758326127.959 [DAT](INFO): got valid direction response:
 23:55:28.6825 LVL= 28064, 32753, 31474, 32755, AGC= 72, IDX= 415,-0.46,-2.224, 2.307,-2.172,-2.538, PHS= 0.416,-1.393, 0.322, RAW= 147.4,   7.5, CAL= 146.9,   8.1, ROT=   3.1,  -8.1

2025-09-19T23:55:27.960Z,1758326127.960 [DAT](INFO): DAT read: Rx Time:23:55:28.6825

2025-09-19T23:55:27.961Z,1758326127.961 [DAT](INFO): Rx dataTimestamp_ set to:1758326127.960565
2025-09-19T23:55:27.961Z,1758326127.961 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-19T23:55:27.962Z,1758326127.962 [DAT](INFO): Received low SNR in chirp
2025-09-19T23:55:27.967Z,1758326127.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 383.474945 m,
      bearing: 265.281333 deg,
      approach rate: -0.545457 m/s,
      LOS rate: -0.032143 deg/s,
      cmd heading: 264.540521 deg,
      new cmd heading: 264.513161 deg.

2025-09-19T23:55:27.976Z,1758326127.976 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-19T23:55:27.977Z,1758326127.977 [DAT](INFO): direction in FSK: [0.988575,0.053539,0.140901]
2025-09-19T23:55:27.980Z,1758326127.980 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:27.980Z,1758326127.980 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:27.980Z,1758326127.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:27.988Z,1758326127.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616626 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:28.209Z,1758326128.209 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:28.210Z,1758326128.210 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:28.210Z,1758326128.210 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:28.335Z,1758326128.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:28.338Z,1758326128.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 383.235504 m,
      bearing: 265.267234 deg,
      approach rate: -0.616187 m/s,
      LOS rate: -0.036306 deg/s,
      cmd heading: 264.513173 deg,
      new cmd heading: 264.484957 deg.

2025-09-19T23:55:28.339Z,1758326128.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616133 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:28.457Z,1758326128.457 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:28.457Z,1758326128.457 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:28.457Z,1758326128.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:28.709Z,1758326128.709 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:28.709Z,1758326128.709 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:28.709Z,1758326128.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:28.819Z,1758326128.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:28.846Z,1758326128.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 382.966553 m,
      bearing: 265.250938 deg,
      approach rate: -0.556020 m/s,
      LOS rate: -0.033714 deg/s,
      cmd heading: 264.484951 deg,
      new cmd heading: 264.452335 deg.

2025-09-19T23:55:28.847Z,1758326128.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615564 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:28.961Z,1758326128.961 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:28.961Z,1758326128.961 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:28.961Z,1758326128.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:29.213Z,1758326129.213 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:29.213Z,1758326129.213 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:29.213Z,1758326129.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:29.265Z,1758326129.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:29.267Z,1758326129.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 382.739105 m,
      bearing: 265.237149 deg,
      approach rate: -0.511251 m/s,
      LOS rate: -0.031013 deg/s,
      cmd heading: 264.452330 deg,
      new cmd heading: 264.424736 deg.

2025-09-19T23:55:29.276Z,1758326129.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615082 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:29.466Z,1758326129.466 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:29.466Z,1758326129.466 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:29.466Z,1758326129.466 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:29.717Z,1758326129.717 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:29.717Z,1758326129.717 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:29.717Z,1758326129.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:29.804Z,1758326129.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:29.810Z,1758326129.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 382.420837 m,
      bearing: 265.218920 deg,
      approach rate: -0.589288 m/s,
      LOS rate: -0.033780 deg/s,
      cmd heading: 264.424736 deg,
      new cmd heading: 264.388248 deg.

2025-09-19T23:55:29.828Z,1758326129.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614445 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:29.969Z,1758326129.969 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:29.969Z,1758326129.969 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:29.969Z,1758326129.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:30.201Z,1758326130.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:30.203Z,1758326130.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:30.217Z,1758326130.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 382.209564 m,
      bearing: 265.206790 deg,
      approach rate: -0.529790 m/s,
      LOS rate: -0.030433 deg/s,
      cmd heading: 264.388235 deg,
      new cmd heading: 264.363963 deg.

2025-09-19T23:55:30.218Z,1758326130.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614022 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:30.221Z,1758326130.221 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:55:30.221Z,1758326130.221 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:55:30.221Z,1758326130.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:55:30.473Z,1758326130.473 [DAT](INFO): Reached modem response timeout
2025-09-19T23:55:30.473Z,1758326130.473 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:30.474Z,1758326130.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:30.630Z,1758326130.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:30.669Z,1758326130.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 381.978973 m,
      bearing: 265.193535 deg,
      approach rate: -0.564331 m/s,
      LOS rate: -0.032460 deg/s,
      cmd heading: 264.363974 deg,
      new cmd heading: 264.337448 deg.

2025-09-19T23:55:30.677Z,1758326130.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613559 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:30.727Z,1758326130.727 [DAT](INFO): DAT read: 

2025-09-19T23:55:30.728Z,1758326130.728 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:30.977Z,1758326130.977 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:31.048Z,1758326131.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:31.051Z,1758326131.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 381.738495 m,
      bearing: 265.179963 deg,
      approach rate: -0.550806 m/s,
      LOS rate: -0.031107 deg/s,
      cmd heading: 264.337446 deg,
      new cmd heading: 264.310284 deg.

2025-09-19T23:55:31.052Z,1758326131.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613085 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:31.229Z,1758326131.229 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:31.430Z,1758326131.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:31.433Z,1758326131.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 381.531708 m,
      bearing: 265.168256 deg,
      approach rate: -0.541682 m/s,
      LOS rate: -0.030683 deg/s,
      cmd heading: 264.310289 deg,
      new cmd heading: 264.286862 deg.

2025-09-19T23:55:31.434Z,1758326131.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612676 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:31.482Z,1758326131.482 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:31.733Z,1758326131.733 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:31.872Z,1758326131.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:31.875Z,1758326131.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 381.299103 m,
      bearing: 265.154988 deg,
      approach rate: -0.531146 m/s,
      LOS rate: -0.030314 deg/s,
      cmd heading: 264.286875 deg,
      new cmd heading: 264.260325 deg.

2025-09-19T23:55:31.875Z,1758326131.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612213 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:31.986Z,1758326131.986 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:32.237Z,1758326132.237 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:32.238Z,1758326132.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:32.245Z,1758326132.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:32.247Z,1758326132.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 381.087769 m,
      bearing: 265.142905 deg,
      approach rate: -0.560629 m/s,
      LOS rate: -0.032072 deg/s,
      cmd heading: 264.260320 deg,
      new cmd heading: 264.236140 deg.

2025-09-19T23:55:32.264Z,1758326132.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611791 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:32.489Z,1758326132.489 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:32.645Z,1758326132.645 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:55:32.741Z,1758326132.741 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:32.800Z,1758326132.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:32.803Z,1758326132.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 380.757324 m,
      bearing: 265.124967 deg,
      approach rate: -0.595310 m/s,
      LOS rate: -0.032345 deg/s,
      cmd heading: 264.236141 deg,
      new cmd heading: 264.200233 deg.

2025-09-19T23:55:32.803Z,1758326132.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611164 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:32.993Z,1758326132.993 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:33.186Z,1758326133.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:33.193Z,1758326133.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 380.539124 m,
      bearing: 265.113134 deg,
      approach rate: -0.564897 m/s,
      LOS rate: -0.030653 deg/s,
      cmd heading: 264.200241 deg,
      new cmd heading: 264.176561 deg.

2025-09-19T23:55:33.194Z,1758326133.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610751 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:33.245Z,1758326133.245 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:33.497Z,1758326133.497 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:33.582Z,1758326133.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:33.584Z,1758326133.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 380.306519 m,
      bearing: 265.100542 deg,
      approach rate: -0.588069 m/s,
      LOS rate: -0.031854 deg/s,
      cmd heading: 264.176554 deg,
      new cmd heading: 264.151355 deg.

2025-09-19T23:55:33.585Z,1758326133.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610311 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:33.648Z,1758326133.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:55:33.749Z,1758326133.749 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:33.988Z,1758326133.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:33.990Z,1758326133.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 380.052155 m,
      bearing: 265.088455 deg,
      approach rate: -0.626363 m/s,
      LOS rate: -0.029785 deg/s,
      cmd heading: 264.151364 deg,
      new cmd heading: 264.127173 deg.

2025-09-19T23:55:33.991Z,1758326133.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609889 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:34.001Z,1758326134.001 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:34.253Z,1758326134.253 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:34.374Z,1758326134.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:34.395Z,1758326134.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:34.398Z,1758326134.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 379.809357 m,
      bearing: 265.076902 deg,
      approach rate: -0.625213 m/s,
      LOS rate: -0.029768 deg/s,
      cmd heading: 264.127185 deg,
      new cmd heading: 264.104065 deg.

2025-09-19T23:55:34.399Z,1758326134.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609486 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:34.505Z,1758326134.505 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:34.757Z,1758326134.757 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:34.819Z,1758326134.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:34.822Z,1758326134.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 379.530518 m,
      bearing: 265.062987 deg,
      approach rate: -0.629090 m/s,
      LOS rate: -0.031416 deg/s,
      cmd heading: 264.104072 deg,
      new cmd heading: 264.076223 deg.

2025-09-19T23:55:34.823Z,1758326134.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609000 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:35.009Z,1758326135.009 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:35.169Z,1758326135.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:35.172Z,1758326135.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 379.309845 m,
      bearing: 265.052151 deg,
      approach rate: -0.630155 m/s,
      LOS rate: -0.030963 deg/s,
      cmd heading: 264.076232 deg,
      new cmd heading: 264.054546 deg.

2025-09-19T23:55:35.173Z,1758326135.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608621 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:35.261Z,1758326135.261 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:35.513Z,1758326135.513 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:35.575Z,1758326135.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:35.578Z,1758326135.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 379.053894 m,
      bearing: 265.039638 deg,
      approach rate: -0.630418 m/s,
      LOS rate: -0.030839 deg/s,
      cmd heading: 264.054540 deg,
      new cmd heading: 264.029499 deg.

2025-09-19T23:55:35.579Z,1758326135.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608184 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:35.767Z,1758326135.767 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:36.011Z,1758326136.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:36.014Z,1758326136.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 378.782562 m,
      bearing: 265.026639 deg,
      approach rate: -0.623089 m/s,
      LOS rate: -0.029874 deg/s,
      cmd heading: 264.029486 deg,
      new cmd heading: 264.003468 deg.

2025-09-19T23:55:36.015Z,1758326136.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607730 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:36.017Z,1758326136.017 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:36.269Z,1758326136.269 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:36.380Z,1758326136.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:36.382Z,1758326136.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:36.385Z,1758326136.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 378.550995 m,
      bearing: 265.015612 deg,
      approach rate: -0.623411 m/s,
      LOS rate: -0.029704 deg/s,
      cmd heading: 264.003477 deg,
      new cmd heading: 263.981410 deg.

2025-09-19T23:55:36.386Z,1758326136.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607345 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:36.520Z,1758326136.520 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:36.773Z,1758326136.773 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:55:36.774Z,1758326136.774 [DAT](INFO): response not received
2025-09-19T23:55:36.774Z,1758326136.774 [DAT](INFO): DAT read: user:586>Tx time:23:55:38.2125

2025-09-19T23:55:36.775Z,1758326136.775 [DAT](ERROR): No response from remote modem.
2025-09-19T23:55:36.775Z,1758326136.775 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:36.775Z,1758326136.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:36.875Z,1758326136.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:36.881Z,1758326136.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 378.259674 m,
      bearing: 265.000296 deg,
      approach rate: -0.591755 m/s,
      LOS rate: -0.031134 deg/s,
      cmd heading: 263.981402 deg,
      new cmd heading: 263.950747 deg.

2025-09-19T23:55:36.882Z,1758326136.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606810 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:37.025Z,1758326137.025 [DAT](INFO): DAT read: 

2025-09-19T23:55:37.025Z,1758326137.025 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:37.201Z,1758326137.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:37.203Z,1758326137.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 378.060730 m,
      bearing: 264.989886 deg,
      approach rate: -0.609753 m/s,
      LOS rate: -0.031923 deg/s,
      cmd heading: 263.950748 deg,
      new cmd heading: 263.929917 deg.

2025-09-19T23:55:37.205Z,1758326137.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606446 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:37.277Z,1758326137.277 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:37.529Z,1758326137.529 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:37.603Z,1758326137.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:37.624Z,1758326137.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 377.819000 m,
      bearing: 264.977290 deg,
      approach rate: -0.602418 m/s,
      LOS rate: -0.031410 deg/s,
      cmd heading: 263.929930 deg,
      new cmd heading: 263.904722 deg.

2025-09-19T23:55:37.626Z,1758326137.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606006 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:37.783Z,1758326137.783 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:38.033Z,1758326138.033 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:38.051Z,1758326138.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:38.054Z,1758326138.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 377.563324 m,
      bearing: 264.963037 deg,
      approach rate: -0.569337 m/s,
      LOS rate: -0.031761 deg/s,
      cmd heading: 263.904713 deg,
      new cmd heading: 263.876186 deg.

2025-09-19T23:55:38.055Z,1758326138.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605508 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:38.285Z,1758326138.285 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:38.436Z,1758326138.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:38.438Z,1758326138.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:38.441Z,1758326138.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 377.352753 m,
      bearing: 264.951281 deg,
      approach rate: -0.544168 m/s,
      LOS rate: -0.030397 deg/s,
      cmd heading: 263.876190 deg,
      new cmd heading: 263.852665 deg.

2025-09-19T23:55:38.442Z,1758326138.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605098 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:38.537Z,1758326138.537 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:38.790Z,1758326138.790 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:38.871Z,1758326138.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:38.880Z,1758326138.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 377.118408 m,
      bearing: 264.937858 deg,
      approach rate: -0.541882 m/s,
      LOS rate: -0.031058 deg/s,
      cmd heading: 263.852667 deg,
      new cmd heading: 263.825804 deg.

2025-09-19T23:55:38.881Z,1758326138.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604629 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:39.041Z,1758326139.041 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:39.236Z,1758326139.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:39.239Z,1758326139.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 376.919800 m,
      bearing: 264.926469 deg,
      approach rate: -0.549872 m/s,
      LOS rate: -0.031549 deg/s,
      cmd heading: 263.825810 deg,
      new cmd heading: 263.803020 deg.

2025-09-19T23:55:39.240Z,1758326139.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604231 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:39.293Z,1758326139.293 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:39.545Z,1758326139.545 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:39.634Z,1758326139.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:39.637Z,1758326139.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 376.687927 m,
      bearing: 264.913167 deg,
      approach rate: -0.575905 m/s,
      LOS rate: -0.033059 deg/s,
      cmd heading: 263.803025 deg,
      new cmd heading: 263.776404 deg.

2025-09-19T23:55:39.638Z,1758326139.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603767 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:39.800Z,1758326139.800 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:40.049Z,1758326140.049 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:40.063Z,1758326140.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:40.065Z,1758326140.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 376.456024 m,
      bearing: 264.899719 deg,
      approach rate: -0.541698 m/s,
      LOS rate: -0.031432 deg/s,
      cmd heading: 263.776414 deg,
      new cmd heading: 263.749502 deg.

2025-09-19T23:55:40.066Z,1758326140.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603297 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:40.303Z,1758326140.303 [DAT](INFO): DAT read: Rx Time:23:55:41.1359

2025-09-19T23:55:40.303Z,1758326140.303 [DAT](INFO): Rx dataTimestamp_ set to:1758326140.302774
2025-09-19T23:55:40.303Z,1758326140.303 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:40.432Z,1758326140.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-09-19T23:55:40.434Z,1758326140.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.261139 m,
      nav range: 376.256256 m,
      bearing: 264.888145 deg,
      approach rate: -0.541243 m/s,
      LOS rate: -0.031375 deg/s,
      cmd heading: 263.749503 deg,
      new cmd heading: 263.726343 deg.

2025-09-19T23:55:40.435Z,1758326140.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602893 target range: 388.261139 and range: 389.20 m.
2025-09-19T23:55:40.553Z,1758326140.553 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:40.833Z,1758326140.833 [DAT](INFO): DAT read: 23:55:41.1359 LVL= 30960, 32753, 32754, 32755, AGC= 69, IDX= 481,-0.28, 1.773, 0.190, 1.863, 0.989, PHS= 0.886,-0.754, 0.831, RAW= 148.3, -11.9, CAL= 149.2, -14.0, ROT=   0.8,  14.0

2025-09-19T23:55:40.834Z,1758326140.834 [DAT](INFO): got valid direction response:
 23:55:41.1359 LVL= 30960, 32753, 32754, 32755, AGC= 69, IDX= 481,-0.28, 1.773, 0.190, 1.863, 0.989, PHS= 0.886,-0.754, 0.831, RAW= 148.3, -11.9, CAL= 149.2, -14.0, ROT=   0.8,  14.0

2025-09-19T23:55:40.835Z,1758326140.835 [DAT](INFO): DAT read: Bearing  46.2,   6.9 (Local)

2025-09-19T23:55:40.835Z,1758326140.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.2,   6.9 (Local)

2025-09-19T23:55:40.841Z,1758326140.841 [DAT](INFO): DAT read: Range 11 to 50 : 389.4 m  (Round-trip  519.2 ms) speed  0.4 m/s

2025-09-19T23:55:40.842Z,1758326140.842 [DAT](INFO): DAT read: user:587>Tx time:23:55:42.2125

2025-09-19T23:55:40.843Z,1758326140.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:40.844Z,1758326140.844 [DAT](INFO): direction in FSK: [0.970201,0.013547,-0.241922]
2025-09-19T23:55:40.848Z,1758326140.848 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:40.851Z,1758326140.851 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:40.851Z,1758326140.851 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:41.018Z,1758326141.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 389.399994 m,
      deltaT: 16.381129 s,
      deltaX: 0.199982 m,
      approachRate: 0.012208 m/s,
      rangeRepo size: 4

2025-09-19T23:55:41.029Z,1758326141.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 388.446808 m,
      bearing: 264.537770 deg,
      lat: 36.779186 deg,
      lon: -121.859826 deg,
      deltaT: 16.381129 s,
      deltaX: 0.185669 m,
      approachRate: 0.011334 m/s,
      posRepo size: 4

2025-09-19T23:55:41.030Z,1758326141.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:41.036Z,1758326141.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 381.407135 m,
      bearing: 264.495146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031375 deg/s,
      cmd heading: 263.726335 deg,
      new cmd heading: 263.689695 deg.

2025-09-19T23:55:41.037Z,1758326141.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602253 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:41.057Z,1758326141.057 [DAT](INFO): DAT read: 

2025-09-19T23:55:41.057Z,1758326141.057 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:41.272Z,1758326141.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:41.274Z,1758326141.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:41.281Z,1758326141.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 381.259888 m,
      bearing: 264.486587 deg,
      approach rate: -0.569239 m/s,
      LOS rate: -0.033101 deg/s,
      cmd heading: 263.689698 deg,
      new cmd heading: 263.672574 deg.

2025-09-19T23:55:41.282Z,1758326141.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601954 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:41.309Z,1758326141.309 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:41.561Z,1758326141.561 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:41.654Z,1758326141.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:41.657Z,1758326141.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 381.057343 m,
      bearing: 264.474839 deg,
      approach rate: -0.533520 m/s,
      LOS rate: -0.030961 deg/s,
      cmd heading: 263.672568 deg,
      new cmd heading: 263.649060 deg.

2025-09-19T23:55:41.658Z,1758326141.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601544 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:41.815Z,1758326141.815 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:42.065Z,1758326142.065 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:42.075Z,1758326142.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:42.082Z,1758326142.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 380.824768 m,
      bearing: 264.461141 deg,
      approach rate: -0.551925 m/s,
      LOS rate: -0.032528 deg/s,
      cmd heading: 263.649072 deg,
      new cmd heading: 263.621658 deg.

2025-09-19T23:55:42.083Z,1758326142.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601066 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:42.317Z,1758326142.317 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:42.444Z,1758326142.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:42.447Z,1758326142.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 380.609070 m,
      bearing: 264.448464 deg,
      approach rate: -0.584314 m/s,
      LOS rate: -0.034359 deg/s,
      cmd heading: 263.621670 deg,
      new cmd heading: 263.596302 deg.

2025-09-19T23:55:42.468Z,1758326142.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600624 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:42.570Z,1758326142.570 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:42.823Z,1758326142.823 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:42.904Z,1758326142.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:42.907Z,1758326142.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 380.350189 m,
      bearing: 264.433084 deg,
      approach rate: -0.563237 m/s,
      LOS rate: -0.033485 deg/s,
      cmd heading: 263.596316 deg,
      new cmd heading: 263.565535 deg.

2025-09-19T23:55:42.908Z,1758326142.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600086 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:43.073Z,1758326143.073 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:43.283Z,1758326143.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:43.289Z,1758326143.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:43.297Z,1758326143.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 380.135498 m,
      bearing: 264.420359 deg,
      approach rate: -0.557515 m/s,
      LOS rate: -0.033062 deg/s,
      cmd heading: 263.565525 deg,
      new cmd heading: 263.540062 deg.

2025-09-19T23:55:43.298Z,1758326143.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599642 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:43.325Z,1758326143.325 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:43.577Z,1758326143.577 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:43.663Z,1758326143.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:43.666Z,1758326143.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 379.922394 m,
      bearing: 264.407759 deg,
      approach rate: -0.570449 m/s,
      LOS rate: -0.033748 deg/s,
      cmd heading: 263.540062 deg,
      new cmd heading: 263.514848 deg.

2025-09-19T23:55:43.666Z,1758326143.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599202 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:43.832Z,1758326143.832 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:44.081Z,1758326144.081 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:44.109Z,1758326144.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:44.117Z,1758326144.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 379.670166 m,
      bearing: 264.393563 deg,
      approach rate: -0.564923 m/s,
      LOS rate: -0.031817 deg/s,
      cmd heading: 263.514845 deg,
      new cmd heading: 263.486434 deg.

2025-09-19T23:55:44.118Z,1758326144.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598706 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:44.333Z,1758326144.333 [DAT](INFO): DAT read: Rx Time:23:55:45.1331

2025-09-19T23:55:44.333Z,1758326144.333 [DAT](INFO): Rx dataTimestamp_ set to:1758326144.333072
2025-09-19T23:55:44.334Z,1758326144.334 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:44.468Z,1758326144.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.45 m.
2025-09-19T23:55:44.471Z,1758326144.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.446808 m,
      nav range: 379.433533 m,
      bearing: 264.380308 deg,
      approach rate: -0.659238 m/s,
      LOS rate: -0.036950 deg/s,
      cmd heading: 263.486432 deg,
      new cmd heading: 263.459906 deg.

2025-09-19T23:55:44.472Z,1758326144.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598243 target range: 388.446808 and range: 389.40 m.
2025-09-19T23:55:44.586Z,1758326144.586 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:44.881Z,1758326144.881 [DAT](INFO): DAT read: 23:55:45.1331 LVL= 28080, 32753, 31858, 32755, AGC= 70, IDX= 291,-0.03,-0.329,-2.116,-0.398,-0.660, PHS= 0.433,-1.411, 0.218, RAW= 143.9,   8.8, CAL= 143.4,   9.6, ROT=   6.6,  -9.6

2025-09-19T23:55:44.890Z,1758326144.890 [DAT](INFO): got valid direction response:
 23:55:45.1331 LVL= 28080, 32753, 31858, 32755, AGC= 70, IDX= 291,-0.03,-0.329,-2.116,-0.398,-0.660, PHS= 0.433,-1.411, 0.218, RAW= 143.9,   8.8, CAL= 143.4,   9.6, ROT=   6.6,  -9.6

2025-09-19T23:55:44.896Z,1758326144.896 [DAT](INFO): DAT read: Bearing  69.5,  11.1 (Local)

2025-09-19T23:55:44.897Z,1758326144.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.5,  11.1 (Local)

2025-09-19T23:55:44.898Z,1758326144.898 [DAT](INFO): DAT read: Range 11 to 50 : 387.3 m  (Round-trip  516.4 ms) speed  0.4 m/s

2025-09-19T23:55:44.899Z,1758326144.899 [DAT](INFO): DAT read: user:588>Tx time:23:55:46.2125

2025-09-19T23:55:44.900Z,1758326144.900 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:44.905Z,1758326144.905 [DAT](INFO): direction in FSK: [0.979462,0.113328,0.166769]
2025-09-19T23:55:44.905Z,1758326144.905 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:44.913Z,1758326144.913 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:44.913Z,1758326144.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:45.034Z,1758326145.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 387.299988 m,
      deltaT: 4.032294 s,
      deltaX: -2.100006 m,
      approachRate: -0.520797 m/s,
      rangeRepo size: 4

2025-09-19T23:55:45.039Z,1758326145.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 386.344666 m,
      bearing: 270.588501 deg,
      lat: 36.779501 deg,
      lon: -121.859793 deg,
      deltaT: 4.032294 s,
      deltaX: -2.102142 m,
      approachRate: -0.521327 m/s,
      posRepo size: 4

2025-09-19T23:55:45.048Z,1758326145.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:45.051Z,1758326145.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 374.302673 m,
      bearing: 269.663396 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036950 deg/s,
      cmd heading: 263.459903 deg,
      new cmd heading: 263.418114 deg.

2025-09-19T23:55:45.056Z,1758326145.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597513 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:45.090Z,1758326145.090 [DAT](INFO): DAT read: 

2025-09-19T23:55:45.091Z,1758326145.091 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:45.342Z,1758326145.342 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:45.413Z,1758326145.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:45.416Z,1758326145.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:45.418Z,1758326145.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 374.053558 m,
      bearing: 269.653491 deg,
      approach rate: -0.652347 m/s,
      LOS rate: -0.025955 deg/s,
      cmd heading: 263.418103 deg,
      new cmd heading: 263.398279 deg.

2025-09-19T23:55:45.419Z,1758326145.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597167 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:45.593Z,1758326145.593 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:45.845Z,1758326145.845 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:46.048Z,1758326146.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:46.051Z,1758326146.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 373.644440 m,
      bearing: 269.637550 deg,
      approach rate: -0.647100 m/s,
      LOS rate: -0.025240 deg/s,
      cmd heading: 263.398268 deg,
      new cmd heading: 263.366352 deg.

2025-09-19T23:55:46.052Z,1758326146.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596610 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:46.098Z,1758326146.098 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:46.349Z,1758326146.349 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:46.517Z,1758326146.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:46.524Z,1758326146.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 373.340881 m,
      bearing: 269.625780 deg,
      approach rate: -0.646784 m/s,
      LOS rate: -0.025098 deg/s,
      cmd heading: 263.366357 deg,
      new cmd heading: 263.342798 deg.

2025-09-19T23:55:46.525Z,1758326146.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596199 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:46.601Z,1758326146.601 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:46.853Z,1758326146.853 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:47.046Z,1758326147.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:47.053Z,1758326147.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 373.004974 m,
      bearing: 269.612137 deg,
      approach rate: -0.634688 m/s,
      LOS rate: -0.025802 deg/s,
      cmd heading: 263.342807 deg,
      new cmd heading: 263.315495 deg.

2025-09-19T23:55:47.054Z,1758326147.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595722 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:47.106Z,1758326147.106 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:47.357Z,1758326147.357 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:47.451Z,1758326147.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:47.453Z,1758326147.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:47.455Z,1758326147.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 372.751862 m,
      bearing: 269.601923 deg,
      approach rate: -0.622547 m/s,
      LOS rate: -0.025140 deg/s,
      cmd heading: 263.315486 deg,
      new cmd heading: 263.295043 deg.

2025-09-19T23:55:47.457Z,1758326147.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595366 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:47.609Z,1758326147.609 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:47.830Z,1758326147.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:47.835Z,1758326147.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 372.520905 m,
      bearing: 269.592660 deg,
      approach rate: -0.617526 m/s,
      LOS rate: -0.024780 deg/s,
      cmd heading: 263.295050 deg,
      new cmd heading: 263.276514 deg.

2025-09-19T23:55:47.838Z,1758326147.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595042 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:47.861Z,1758326147.861 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:48.113Z,1758326148.113 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:48.305Z,1758326148.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:48.308Z,1758326148.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 372.233032 m,
      bearing: 269.582155 deg,
      approach rate: -0.601550 m/s,
      LOS rate: -0.021969 deg/s,
      cmd heading: 263.276526 deg,
      new cmd heading: 263.255500 deg.

2025-09-19T23:55:48.309Z,1758326148.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594675 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:48.366Z,1758326148.366 [DAT](INFO): DAT read: Rx Time:23:55:49.1303

2025-09-19T23:55:48.367Z,1758326148.367 [DAT](INFO): Rx dataTimestamp_ set to:1758326148.366358
2025-09-19T23:55:48.367Z,1758326148.367 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:48.617Z,1758326148.617 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:48.659Z,1758326148.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.34 m.
2025-09-19T23:55:48.661Z,1758326148.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.344666 m,
      nav range: 372.020508 m,
      bearing: 269.574389 deg,
      approach rate: -0.601841 m/s,
      LOS rate: -0.022005 deg/s,
      cmd heading: 263.255489 deg,
      new cmd heading: 263.239948 deg.

2025-09-19T23:55:48.662Z,1758326148.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594404 target range: 386.344666 and range: 387.30 m.
2025-09-19T23:55:48.879Z,1758326148.879 [DAT](INFO): DAT read: 23:55:49.1303 LVL= 25072, 32753, 31202, 32755, AGC= 69, IDX= 407, 0.32, 1.371,-0.049, 1.352, 0.714, PHS= 0.758,-0.718, 0.593, RAW= 144.1,  -9.1, CAL= 144.4, -10.8, ROT=   5.6,  10.8

2025-09-19T23:55:48.880Z,1758326148.880 [DAT](INFO): got valid direction response:
 23:55:49.1303 LVL= 25072, 32753, 31202, 32755, AGC= 69, IDX= 407, 0.32, 1.371,-0.049, 1.352, 0.714, PHS= 0.758,-0.718, 0.593, RAW= 144.1,  -9.1, CAL= 144.4, -10.8, ROT=   5.6,  10.8

2025-09-19T23:55:48.881Z,1758326148.881 [DAT](INFO): DAT read: Bearing  48.2,  10.2 (Local)

2025-09-19T23:55:48.881Z,1758326148.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.2,  10.2 (Local)

2025-09-19T23:55:48.883Z,1758326148.883 [DAT](INFO): DAT read: Range 11 to 50 : 385.2 m  (Round-trip  513.6 ms) speed  0.3 m/s

2025-09-19T23:55:48.884Z,1758326148.884 [DAT](INFO): DAT read: user:589>Tx time:23:55:50.2125

2025-09-19T23:55:48.890Z,1758326148.890 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:48.894Z,1758326148.894 [DAT](INFO): direction in FSK: [0.977599,0.095854,-0.187381]
2025-09-19T23:55:48.895Z,1758326148.895 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:48.954Z,1758326148.954 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:48.954Z,1758326148.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:49.121Z,1758326149.121 [DAT](INFO): DAT read: 

2025-09-19T23:55:49.121Z,1758326149.121 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:49.137Z,1758326149.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 385.200012 m,
      deltaT: 4.032192 s,
      deltaX: -2.099976 m,
      approachRate: -0.520802 m/s,
      rangeRepo size: 4

2025-09-19T23:55:49.139Z,1758326149.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 384.246643 m,
      bearing: 267.910212 deg,
      lat: 36.779402 deg,
      lon: -121.859855 deg,
      deltaT: 4.032192 s,
      deltaX: -2.098022 m,
      approachRate: -0.520318 m/s,
      posRepo size: 4

2025-09-19T23:55:49.144Z,1758326149.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:49.147Z,1758326149.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 377.538055 m,
      bearing: 267.887098 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022005 deg/s,
      cmd heading: 263.239944 deg,
      new cmd heading: 263.218896 deg.

2025-09-19T23:55:49.152Z,1758326149.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594037 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:49.373Z,1758326149.373 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:49.486Z,1758326149.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:49.489Z,1758326149.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:49.491Z,1758326149.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 377.316681 m,
      bearing: 267.877933 deg,
      approach rate: -0.629389 m/s,
      LOS rate: -0.026073 deg/s,
      cmd heading: 263.218907 deg,
      new cmd heading: 263.200566 deg.

2025-09-19T23:55:49.492Z,1758326149.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593717 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:49.625Z,1758326149.625 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:49.877Z,1758326149.877 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:49.887Z,1758326149.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:49.890Z,1758326149.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 377.084229 m,
      bearing: 267.868280 deg,
      approach rate: -0.583348 m/s,
      LOS rate: -0.024239 deg/s,
      cmd heading: 263.200575 deg,
      new cmd heading: 263.181257 deg.

2025-09-19T23:55:49.891Z,1758326149.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593379 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:50.129Z,1758326150.129 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:50.315Z,1758326150.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:50.318Z,1758326150.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 376.845032 m,
      bearing: 267.858099 deg,
      approach rate: -0.558643 m/s,
      LOS rate: -0.023794 deg/s,
      cmd heading: 263.181259 deg,
      new cmd heading: 263.160883 deg.

2025-09-19T23:55:50.319Z,1758326150.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593024 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:50.381Z,1758326150.381 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:50.636Z,1758326150.636 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:50.695Z,1758326150.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:50.697Z,1758326150.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 376.632965 m,
      bearing: 267.849052 deg,
      approach rate: -0.558941 m/s,
      LOS rate: -0.023858 deg/s,
      cmd heading: 263.160878 deg,
      new cmd heading: 263.142774 deg.

2025-09-19T23:55:50.698Z,1758326150.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592708 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:50.885Z,1758326150.885 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:51.137Z,1758326151.137 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:51.181Z,1758326151.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:51.183Z,1758326151.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 376.357788 m,
      bearing: 267.837587 deg,
      approach rate: -0.566094 m/s,
      LOS rate: -0.023603 deg/s,
      cmd heading: 263.142764 deg,
      new cmd heading: 263.119817 deg.

2025-09-19T23:55:51.185Z,1758326151.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592307 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:51.389Z,1758326151.389 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:51.536Z,1758326151.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:51.538Z,1758326151.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:51.541Z,1758326151.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 376.155640 m,
      bearing: 267.829130 deg,
      approach rate: -0.565525 m/s,
      LOS rate: -0.023670 deg/s,
      cmd heading: 263.119815 deg,
      new cmd heading: 263.102892 deg.

2025-09-19T23:55:51.542Z,1758326151.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592012 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:51.641Z,1758326151.641 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:51.893Z,1758326151.893 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:51.919Z,1758326151.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:51.922Z,1758326151.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 375.949097 m,
      bearing: 267.820469 deg,
      approach rate: -0.542615 m/s,
      LOS rate: -0.022767 deg/s,
      cmd heading: 263.102903 deg,
      new cmd heading: 263.085571 deg.

2025-09-19T23:55:51.923Z,1758326151.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591710 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:52.145Z,1758326152.145 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:52.369Z,1758326152.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:52.371Z,1758326152.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 375.696564 m,
      bearing: 267.809832 deg,
      approach rate: -0.567228 m/s,
      LOS rate: -0.023908 deg/s,
      cmd heading: 263.085582 deg,
      new cmd heading: 263.064293 deg.

2025-09-19T23:55:52.376Z,1758326152.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591338 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:52.397Z,1758326152.397 [DAT](INFO): DAT read: Rx Time:23:55:53.1279

2025-09-19T23:55:52.397Z,1758326152.397 [DAT](INFO): Rx dataTimestamp_ set to:1758326152.397163
2025-09-19T23:55:52.398Z,1758326152.398 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:52.649Z,1758326152.649 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:52.776Z,1758326152.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.25 m.
2025-09-19T23:55:52.779Z,1758326152.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.246643 m,
      nav range: 375.453918 m,
      bearing: 267.799594 deg,
      approach rate: -0.589552 m/s,
      LOS rate: -0.024892 deg/s,
      cmd heading: 263.064299 deg,
      new cmd heading: 263.043809 deg.

2025-09-19T23:55:52.780Z,1758326152.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590981 target range: 384.246643 and range: 385.20 m.
2025-09-19T23:55:52.907Z,1758326152.907 [DAT](INFO): DAT read: 23:55:53.1279 LVL= 26096, 32753, 31730, 32755, AGC= 70, IDX= 283,-0.18,-0.231,-1.993,-0.291,-0.562, PHS= 0.433,-1.386, 0.226, RAW= 144.0,   8.5, CAL= 143.6,   9.2, ROT=   6.4,  -9.2

2025-09-19T23:55:52.908Z,1758326152.908 [DAT](INFO): got valid direction response:
 23:55:53.1279 LVL= 26096, 32753, 31730, 32755, AGC= 70, IDX= 283,-0.18,-0.231,-1.993,-0.291,-0.562, PHS= 0.433,-1.386, 0.226, RAW= 144.0,   8.5, CAL= 143.6,   9.2, ROT=   6.4,  -9.2

2025-09-19T23:55:52.909Z,1758326152.909 [DAT](INFO): DAT read: Bearing  68.5,  10.5 (Local)

2025-09-19T23:55:52.909Z,1758326152.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.5,  10.5 (Local)

2025-09-19T23:55:52.911Z,1758326152.911 [DAT](INFO): DAT read: Range 11 to 50 : 383.4 m  (Round-trip  511.2 ms) speed  0.4 m/s

2025-09-19T23:55:52.912Z,1758326152.912 [DAT](INFO): DAT read: user:590>Tx time:23:55:54.2125

2025-09-19T23:55:52.913Z,1758326152.913 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:52.913Z,1758326152.913 [DAT](INFO): direction in FSK: [0.980984,0.110035,0.159881]
2025-09-19T23:55:52.914Z,1758326152.914 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:52.937Z,1758326152.937 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:52.938Z,1758326152.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:53.153Z,1758326153.153 [DAT](INFO): DAT read: 

2025-09-19T23:55:53.153Z,1758326153.153 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:53.177Z,1758326153.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 383.399994 m,
      deltaT: 4.030428 s,
      deltaX: -1.800018 m,
      approachRate: -0.446607 m/s,
      rangeRepo size: 4

2025-09-19T23:55:53.179Z,1758326153.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 382.445496 m,
      bearing: 269.559339 deg,
      lat: 36.779501 deg,
      lon: -121.859819 deg,
      deltaT: 4.030428 s,
      deltaX: -1.801147 m,
      approachRate: -0.446887 m/s,
      posRepo size: 4

2025-09-19T23:55:53.179Z,1758326153.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:53.183Z,1758326153.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 371.802673 m,
      bearing: 269.479111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024892 deg/s,
      cmd heading: 263.043808 deg,
      new cmd heading: 263.023892 deg.

2025-09-19T23:55:53.196Z,1758326153.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590633 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:53.406Z,1758326153.406 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:53.647Z,1758326153.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:53.650Z,1758326153.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:53.653Z,1758326153.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 371.521973 m,
      bearing: 269.467737 deg,
      approach rate: -0.592184 m/s,
      LOS rate: -0.024015 deg/s,
      cmd heading: 263.023891 deg,
      new cmd heading: 263.001125 deg.

2025-09-19T23:55:53.654Z,1758326153.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590236 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:53.657Z,1758326153.657 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:53.909Z,1758326153.909 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:54.114Z,1758326154.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:54.117Z,1758326154.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 371.247498 m,
      bearing: 269.455482 deg,
      approach rate: -0.591692 m/s,
      LOS rate: -0.026438 deg/s,
      cmd heading: 263.001133 deg,
      new cmd heading: 262.976605 deg.

2025-09-19T23:55:54.118Z,1758326154.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589808 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:54.161Z,1758326154.161 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:54.413Z,1758326154.413 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:54.595Z,1758326154.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:54.598Z,1758326154.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 370.967590 m,
      bearing: 269.442975 deg,
      approach rate: -0.581338 m/s,
      LOS rate: -0.025995 deg/s,
      cmd heading: 262.976599 deg,
      new cmd heading: 262.951567 deg.

2025-09-19T23:55:54.599Z,1758326154.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589371 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:54.665Z,1758326154.665 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:54.917Z,1758326154.917 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:55.130Z,1758326155.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:55.133Z,1758326155.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 370.655914 m,
      bearing: 269.427997 deg,
      approach rate: -0.582707 m/s,
      LOS rate: -0.028027 deg/s,
      cmd heading: 262.951573 deg,
      new cmd heading: 262.921592 deg.

2025-09-19T23:55:55.134Z,1758326155.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588848 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:55.169Z,1758326155.169 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:55.421Z,1758326155.421 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:55.541Z,1758326155.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:55.543Z,1758326155.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 370.434082 m,
      bearing: 269.417322 deg,
      approach rate: -0.541013 m/s,
      LOS rate: -0.026051 deg/s,
      cmd heading: 262.921602 deg,
      new cmd heading: 262.900239 deg.

2025-09-19T23:55:55.544Z,1758326155.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588475 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:55.673Z,1758326155.673 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:55.909Z,1758326155.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:55.911Z,1758326155.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:55.914Z,1758326155.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 370.207733 m,
      bearing: 269.406437 deg,
      approach rate: -0.609543 m/s,
      LOS rate: -0.029331 deg/s,
      cmd heading: 262.900238 deg,
      new cmd heading: 262.878454 deg.

2025-09-19T23:55:55.915Z,1758326155.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588095 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:55.925Z,1758326155.925 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:56.177Z,1758326156.177 [DAT](INFO): DAT read: Rx Time:23:55:57.1245

2025-09-19T23:55:56.177Z,1758326156.177 [DAT](INFO): Rx dataTimestamp_ set to:1758326156.177129
2025-09-19T23:55:56.178Z,1758326156.178 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:56.369Z,1758326156.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:56.380Z,1758326156.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 369.959778 m,
      bearing: 269.395329 deg,
      approach rate: -0.541284 m/s,
      LOS rate: -0.024265 deg/s,
      cmd heading: 262.878463 deg,
      new cmd heading: 262.856232 deg.

2025-09-19T23:55:56.381Z,1758326156.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587707 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:56.429Z,1758326156.429 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:56.683Z,1758326156.683 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:56.799Z,1758326156.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.45 m.
2025-09-19T23:55:56.802Z,1758326156.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.445496 m,
      nav range: 369.676819 m,
      bearing: 269.382633 deg,
      approach rate: -0.657887 m/s,
      LOS rate: -0.029539 deg/s,
      cmd heading: 262.856224 deg,
      new cmd heading: 262.830814 deg.

2025-09-19T23:55:56.803Z,1758326156.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587263 target range: 382.445496 and range: 383.40 m.
2025-09-19T23:55:56.942Z,1758326156.942 [DAT](INFO): DAT read: 23:55:57.1245 LVL= 27520, 31201, 32658, 32755, AGC= 68, IDX= 412, 0.00, 1.599, 0.183, 1.595, 0.916, PHS= 0.785,-0.688, 0.635, RAW= 144.7, -10.4, CAL= 145.1, -12.4, ROT=   4.9,  12.4

2025-09-19T23:55:56.944Z,1758326156.944 [DAT](INFO): got valid direction response:
 23:55:57.1245 LVL= 27520, 31201, 32658, 32755, AGC= 68, IDX= 412, 0.00, 1.599, 0.183, 1.595, 0.916, PHS= 0.785,-0.688, 0.635, RAW= 144.7, -10.4, CAL= 145.1, -12.4, ROT=   4.9,  12.4

2025-09-19T23:55:56.945Z,1758326156.945 [DAT](INFO): DAT read: Bearing  46.4,   9.5 (Local)

2025-09-19T23:55:56.946Z,1758326156.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.4,   9.5 (Local)

2025-09-19T23:55:56.947Z,1758326156.947 [DAT](INFO): DAT read: Range 11 to 50 : 380.8 m  (Round-trip  507.8 ms) speed  0.4 m/s

2025-09-19T23:55:56.949Z,1758326156.949 [DAT](INFO): DAT read: user:591>Tx time:23:55:58.2125

2025-09-19T23:55:56.949Z,1758326156.949 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:55:56.950Z,1758326156.950 [DAT](INFO): direction in FSK: [0.973103,0.083424,-0.214735]
2025-09-19T23:55:56.951Z,1758326156.951 [DAT](INFO): publishing direction and range info
2025-09-19T23:55:56.954Z,1758326156.954 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:56.954Z,1758326156.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:55:57.185Z,1758326157.185 [DAT](INFO): DAT read: 

2025-09-19T23:55:57.185Z,1758326157.185 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:57.236Z,1758326157.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 380.799988 m,
      deltaT: 4.031891 s,
      deltaX: -2.600006 m,
      approachRate: -0.644860 m/s,
      rangeRepo size: 4

2025-09-19T23:55:57.238Z,1758326157.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 379.847992 m,
      bearing: 267.303058 deg,
      lat: 36.779402 deg,
      lon: -121.859860 deg,
      deltaT: 4.031891 s,
      deltaX: -2.597504 m,
      approachRate: -0.644240 m/s,
      posRepo size: 4

2025-09-19T23:55:57.239Z,1758326157.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:55:57.242Z,1758326157.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 373.362457 m,
      bearing: 267.675124 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029539 deg/s,
      cmd heading: 262.830816 deg,
      new cmd heading: 262.805069 deg.

2025-09-19T23:55:57.243Z,1758326157.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586814 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:55:57.245Z,1758326157.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 55.849457 m.
2025-09-19T23:55:57.440Z,1758326157.440 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:57.589Z,1758326157.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:55:57.591Z,1758326157.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 373.162292 m,
      bearing: 267.665425 deg,
      approach rate: -0.567906 m/s,
      LOS rate: -0.027533 deg/s,
      cmd heading: 262.805079 deg,
      new cmd heading: 262.785671 deg.

2025-09-19T23:55:57.609Z,1758326157.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586475 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:55:57.690Z,1758326157.690 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:57.942Z,1758326157.942 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:57.970Z,1758326157.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:57.989Z,1758326157.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:55:57.992Z,1758326157.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 372.936523 m,
      bearing: 267.654464 deg,
      approach rate: -0.562741 m/s,
      LOS rate: -0.027337 deg/s,
      cmd heading: 262.785682 deg,
      new cmd heading: 262.763747 deg.

2025-09-19T23:55:57.993Z,1758326157.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586092 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:55:58.193Z,1758326158.193 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:58.407Z,1758326158.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:55:58.410Z,1758326158.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 372.690491 m,
      bearing: 267.642396 deg,
      approach rate: -0.588544 m/s,
      LOS rate: -0.028887 deg/s,
      cmd heading: 262.763743 deg,
      new cmd heading: 262.739591 deg.

2025-09-19T23:55:58.411Z,1758326158.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585671 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:55:58.445Z,1758326158.445 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:58.697Z,1758326158.697 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:58.785Z,1758326158.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:55:58.787Z,1758326158.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 372.476257 m,
      bearing: 267.631841 deg,
      approach rate: -0.567256 m/s,
      LOS rate: -0.027964 deg/s,
      cmd heading: 262.739592 deg,
      new cmd heading: 262.718470 deg.

2025-09-19T23:55:58.788Z,1758326158.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585302 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:55:58.949Z,1758326158.949 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:59.201Z,1758326159.201 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:59.215Z,1758326159.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:55:59.234Z,1758326159.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 372.230194 m,
      bearing: 267.620664 deg,
      approach rate: -0.571991 m/s,
      LOS rate: -0.025999 deg/s,
      cmd heading: 262.718473 deg,
      new cmd heading: 262.696104 deg.

2025-09-19T23:55:59.235Z,1758326159.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584912 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:55:59.453Z,1758326159.453 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:59.613Z,1758326159.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:55:59.616Z,1758326159.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 372.002075 m,
      bearing: 267.610288 deg,
      approach rate: -0.572379 m/s,
      LOS rate: -0.026050 deg/s,
      cmd heading: 262.696097 deg,
      new cmd heading: 262.675333 deg.

2025-09-19T23:55:59.617Z,1758326159.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584549 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:55:59.706Z,1758326159.706 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:59.957Z,1758326159.957 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:55:59.993Z,1758326159.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:55:59.995Z,1758326159.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:55:59.998Z,1758326159.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 371.784180 m,
      bearing: 267.600344 deg,
      approach rate: -0.571161 m/s,
      LOS rate: -0.026081 deg/s,
      cmd heading: 262.675333 deg,
      new cmd heading: 262.655433 deg.

2025-09-19T23:55:59.999Z,1758326159.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584202 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:56:00.209Z,1758326160.209 [DAT](INFO): DAT read: Rx Time:23:56:01.1218

2025-09-19T23:56:00.210Z,1758326160.210 [DAT](INFO): Rx dataTimestamp_ set to:1758326160.209773
2025-09-19T23:56:00.210Z,1758326160.210 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:00.424Z,1758326160.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.85 m.
2025-09-19T23:56:00.427Z,1758326160.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 379.847992 m,
      nav range: 371.530579 m,
      bearing: 267.589497 deg,
      approach rate: -0.590986 m/s,
      LOS rate: -0.025296 deg/s,
      cmd heading: 262.655444 deg,
      new cmd heading: 262.633734 deg.

2025-09-19T23:56:00.428Z,1758326160.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583823 target range: 379.847992 and range: 380.80 m.
2025-09-19T23:56:00.461Z,1758326160.461 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:00.729Z,1758326160.729 [DAT](INFO): DAT read: 23:56:01.1218 LVL= 29344, 31969, 32754, 32755, AGC= 68, IDX= 417, 0.20,-2.580, 2.245,-2.638, 3.015, PHS= 0.790,-0.725, 0.586, RAW= 142.9,  -9.2, CAL= 143.1, -10.9, ROT=   6.9,  10.9

2025-09-19T23:56:00.731Z,1758326160.731 [DAT](INFO): got valid direction response:
 23:56:01.1218 LVL= 29344, 31969, 32754, 32755, AGC= 68, IDX= 417, 0.20,-2.580, 2.245,-2.638, 3.015, PHS= 0.790,-0.725, 0.586, RAW= 142.9,  -9.2, CAL= 143.1, -10.9, ROT=   6.9,  10.9

2025-09-19T23:56:00.732Z,1758326160.732 [DAT](INFO): DAT read: Bearing  47.6,  11.1 (Local)

2025-09-19T23:56:00.733Z,1758326160.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.6,  11.1 (Local)

2025-09-19T23:56:00.735Z,1758326160.735 [DAT](INFO): DAT read: Range 11 to 50 : 378.8 m  (Round-trip  505.1 ms) speed  0.4 m/s

2025-09-19T23:56:00.736Z,1758326160.736 [DAT](INFO): DAT read: user:592>Tx time:23:56:02.2125

2025-09-19T23:56:00.737Z,1758326160.737 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:00.738Z,1758326160.738 [DAT](INFO): direction in FSK: [0.974847,0.117969,-0.189095]
2025-09-19T23:56:00.739Z,1758326160.739 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:00.744Z,1758326160.744 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:00.744Z,1758326160.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:00.865Z,1758326160.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 378.799988 m,
      deltaT: 3.781935 s,
      deltaX: -2.000000 m,
      approachRate: -0.528830 m/s,
      rangeRepo size: 4

2025-09-19T23:56:00.867Z,1758326160.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 377.854584 m,
      bearing: 269.430914 deg,
      lat: 36.779506 deg,
      lon: -121.859890 deg,
      deltaT: 3.781935 s,
      deltaX: -1.993408 m,
      approachRate: -0.527087 m/s,
      posRepo size: 4

2025-09-19T23:56:00.870Z,1758326160.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:00.881Z,1758326160.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 373.628204 m,
      bearing: 269.377485 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025296 deg/s,
      cmd heading: 262.633724 deg,
      new cmd heading: 262.611657 deg.

2025-09-19T23:56:00.882Z,1758326160.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583438 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:00.969Z,1758326160.969 [DAT](INFO): DAT read: 

2025-09-19T23:56:00.969Z,1758326160.969 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:01.217Z,1758326161.217 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:01.221Z,1758326161.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:01.223Z,1758326161.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 373.399323 m,
      bearing: 269.368858 deg,
      approach rate: -0.634908 m/s,
      LOS rate: -0.023946 deg/s,
      cmd heading: 262.611648 deg,
      new cmd heading: 262.594384 deg.

2025-09-19T23:56:01.225Z,1758326161.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583137 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:01.469Z,1758326161.469 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:01.630Z,1758326161.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:01.633Z,1758326161.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 373.155914 m,
      bearing: 269.359670 deg,
      approach rate: -0.594841 m/s,
      LOS rate: -0.022468 deg/s,
      cmd heading: 262.594382 deg,
      new cmd heading: 262.575994 deg.

2025-09-19T23:56:01.634Z,1758326161.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582816 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:01.721Z,1758326161.721 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:01.973Z,1758326161.973 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:02.149Z,1758326162.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:02.165Z,1758326162.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:02.172Z,1758326162.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 372.868591 m,
      bearing: 269.348875 deg,
      approach rate: -0.536807 m/s,
      LOS rate: -0.020183 deg/s,
      cmd heading: 262.575995 deg,
      new cmd heading: 262.554389 deg.

2025-09-19T23:56:02.173Z,1758326162.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582438 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:02.225Z,1758326162.225 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:02.477Z,1758326162.477 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:02.587Z,1758326162.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:02.594Z,1758326162.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 372.599304 m,
      bearing: 269.338929 deg,
      approach rate: -0.638403 m/s,
      LOS rate: -0.023596 deg/s,
      cmd heading: 262.554384 deg,
      new cmd heading: 262.534478 deg.

2025-09-19T23:56:02.595Z,1758326162.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582091 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:02.729Z,1758326162.729 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:02.981Z,1758326162.981 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:03.129Z,1758326163.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:03.139Z,1758326163.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 372.286743 m,
      bearing: 269.327417 deg,
      approach rate: -0.582615 m/s,
      LOS rate: -0.021477 deg/s,
      cmd heading: 262.534467 deg,
      new cmd heading: 262.511423 deg.

2025-09-19T23:56:03.147Z,1758326163.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581689 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:03.234Z,1758326163.234 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:03.485Z,1758326163.485 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:03.534Z,1758326163.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:03.537Z,1758326163.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 372.011383 m,
      bearing: 269.317153 deg,
      approach rate: -0.670382 m/s,
      LOS rate: -0.025006 deg/s,
      cmd heading: 262.511436 deg,
      new cmd heading: 262.490894 deg.

2025-09-19T23:56:03.538Z,1758326163.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581330 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:03.737Z,1758326163.737 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:03.769Z,1758326163.769 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:56:03.914Z,1758326163.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:03.917Z,1758326163.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 371.783051 m,
      bearing: 269.308655 deg,
      approach rate: -0.600900 m/s,
      LOS rate: -0.022380 deg/s,
      cmd heading: 262.490891 deg,
      new cmd heading: 262.473883 deg.

2025-09-19T23:56:03.918Z,1758326163.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581033 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:03.989Z,1758326163.989 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:04.241Z,1758326164.241 [DAT](INFO): DAT read: Rx Time:23:56:05.1189

2025-09-19T23:56:04.241Z,1758326164.241 [DAT](INFO): Rx dataTimestamp_ set to:1758326164.241166
2025-09-19T23:56:04.242Z,1758326164.242 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:04.350Z,1758326164.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:04.353Z,1758326164.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.85 m.
2025-09-19T23:56:04.355Z,1758326164.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.854584 m,
      nav range: 371.514221 m,
      bearing: 269.298389 deg,
      approach rate: -0.613006 m/s,
      LOS rate: -0.023425 deg/s,
      cmd heading: 262.473870 deg,
      new cmd heading: 262.453324 deg.

2025-09-19T23:56:04.356Z,1758326164.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580675 target range: 377.854584 and range: 378.80 m.
2025-09-19T23:56:04.493Z,1758326164.493 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:04.754Z,1758326164.754 [DAT](INFO): DAT read: 23:56:05.1189 LVL= 28448, 32753, 28978, 32755, AGC= 71, IDX= 419, 0.05, 2.501, 0.971, 2.460, 1.723, PHS= 0.879,-0.707, 0.692, RAW= 143.8, -11.5, CAL= 144.2, -13.7, ROT=   5.8,  13.7

2025-09-19T23:56:04.756Z,1758326164.756 [DAT](INFO): got valid direction response:
 23:56:05.1189 LVL= 28448, 32753, 28978, 32755, AGC= 71, IDX= 419, 0.05, 2.501, 0.971, 2.460, 1.723, PHS= 0.879,-0.707, 0.692, RAW= 143.8, -11.5, CAL= 144.2, -13.7, ROT=   5.8,  13.7

2025-09-19T23:56:04.758Z,1758326164.758 [DAT](INFO): DAT read: Bearing  44.4,   9.4 (Local)

2025-09-19T23:56:04.758Z,1758326164.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.4,   9.4 (Local)

2025-09-19T23:56:04.760Z,1758326164.760 [DAT](INFO): DAT read: Range 11 to 50 : 376.6 m  (Round-trip  502.2 ms) speed  0.5 m/s

2025-09-19T23:56:04.761Z,1758326164.761 [DAT](INFO): DAT read: user:593>Tx time:23:56:06.2125

2025-09-19T23:56:04.761Z,1758326164.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:04.762Z,1758326164.762 [DAT](INFO): direction in FSK: [0.966575,0.098181,-0.236838]
2025-09-19T23:56:04.762Z,1758326164.762 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:04.772Z,1758326164.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:56:04.794Z,1758326164.794 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:04.794Z,1758326164.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:04.828Z,1758326164.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 376.600006 m,
      deltaT: 4.031040 s,
      deltaX: -2.199982 m,
      approachRate: -0.545760 m/s,
      rangeRepo size: 4

2025-09-19T23:56:04.830Z,1758326164.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 375.654510 m,
      bearing: 267.956641 deg,
      lat: 36.779429 deg,
      lon: -121.859890 deg,
      deltaT: 4.031040 s,
      deltaX: -2.200073 m,
      approachRate: -0.545783 m/s,
      posRepo size: 4

2025-09-19T23:56:04.831Z,1758326164.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:04.838Z,1758326164.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 371.451813 m,
      bearing: 267.968482 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023425 deg/s,
      cmd heading: 262.453325 deg,
      new cmd heading: 262.431650 deg.

2025-09-19T23:56:04.839Z,1758326164.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580297 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:04.997Z,1758326164.997 [DAT](INFO): DAT read: 

2025-09-19T23:56:04.997Z,1758326164.997 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:05.197Z,1758326165.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:05.201Z,1758326165.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 371.239716 m,
      bearing: 267.959589 deg,
      approach rate: -0.555903 m/s,
      LOS rate: -0.023323 deg/s,
      cmd heading: 262.431659 deg,
      new cmd heading: 262.413862 deg.

2025-09-19T23:56:05.202Z,1758326165.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579986 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:05.249Z,1758326165.249 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:05.501Z,1758326165.501 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:05.566Z,1758326165.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:05.571Z,1758326165.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 370.998169 m,
      bearing: 267.949716 deg,
      approach rate: -0.654383 m/s,
      LOS rate: -0.026763 deg/s,
      cmd heading: 262.413873 deg,
      new cmd heading: 262.394116 deg.

2025-09-19T23:56:05.573Z,1758326165.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579641 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:05.754Z,1758326165.754 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:05.933Z,1758326165.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:05.935Z,1758326165.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 370.783447 m,
      bearing: 267.940941 deg,
      approach rate: -0.585793 m/s,
      LOS rate: -0.023955 deg/s,
      cmd heading: 262.394121 deg,
      new cmd heading: 262.376559 deg.

2025-09-19T23:56:05.936Z,1758326165.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579335 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:06.007Z,1758326166.007 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:06.257Z,1758326166.257 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:06.355Z,1758326166.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:06.357Z,1758326166.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:06.360Z,1758326166.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 370.539978 m,
      bearing: 267.930662 deg,
      approach rate: -0.573556 m/s,
      LOS rate: -0.024231 deg/s,
      cmd heading: 262.376553 deg,
      new cmd heading: 262.355982 deg.

2025-09-19T23:56:06.361Z,1758326166.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578976 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:06.509Z,1758326166.509 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:06.755Z,1758326166.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:06.758Z,1758326166.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 370.315613 m,
      bearing: 267.921192 deg,
      approach rate: -0.564694 m/s,
      LOS rate: -0.023848 deg/s,
      cmd heading: 262.355981 deg,
      new cmd heading: 262.337030 deg.

2025-09-19T23:56:06.759Z,1758326166.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578645 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:06.761Z,1758326166.761 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:07.013Z,1758326167.013 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:07.149Z,1758326167.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:07.152Z,1758326167.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 370.090851 m,
      bearing: 267.911713 deg,
      approach rate: -0.569310 m/s,
      LOS rate: -0.024024 deg/s,
      cmd heading: 262.337020 deg,
      new cmd heading: 262.318051 deg.

2025-09-19T23:56:07.153Z,1758326167.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578314 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:07.266Z,1758326167.266 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:07.517Z,1758326167.517 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:07.587Z,1758326167.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:07.590Z,1758326167.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 369.840912 m,
      bearing: 267.900270 deg,
      approach rate: -0.571109 m/s,
      LOS rate: -0.026165 deg/s,
      cmd heading: 262.318060 deg,
      new cmd heading: 262.295158 deg.

2025-09-19T23:56:07.591Z,1758326167.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577914 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:07.769Z,1758326167.769 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:07.955Z,1758326167.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:07.957Z,1758326167.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 369.633240 m,
      bearing: 267.890758 deg,
      approach rate: -0.564664 m/s,
      LOS rate: -0.025879 deg/s,
      cmd heading: 262.295165 deg,
      new cmd heading: 262.276129 deg.

2025-09-19T23:56:07.958Z,1758326167.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577582 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:08.022Z,1758326168.022 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:08.273Z,1758326168.273 [DAT](INFO): DAT read: Rx Time:23:56:09.1161

2025-09-19T23:56:08.273Z,1758326168.273 [DAT](INFO): Rx dataTimestamp_ set to:1758326168.273152
2025-09-19T23:56:08.274Z,1758326168.274 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:08.369Z,1758326168.369 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -28.42,     ,        +4.42,  12.87,  0.00
2025-09-19T23:56:08.382Z,1758326168.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:08.384Z,1758326168.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:08.387Z,1758326168.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 369.390900 m,
      bearing: 267.879645 deg,
      approach rate: -0.563832 m/s,
      LOS rate: -0.025872 deg/s,
      cmd heading: 262.276122 deg,
      new cmd heading: 262.253882 deg.

2025-09-19T23:56:08.388Z,1758326168.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577194 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:08.525Z,1758326168.525 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:08.773Z,1758326168.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.65 m.
2025-09-19T23:56:08.775Z,1758326168.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 375.654510 m,
      nav range: 369.171539 m,
      bearing: 267.869601 deg,
      approach rate: -0.565081 m/s,
      LOS rate: -0.025890 deg/s,
      cmd heading: 262.253883 deg,
      new cmd heading: 262.233783 deg.

2025-09-19T23:56:08.783Z,1758326168.783 [DAT](INFO): DAT read: 23:56:09.1161 LVL= 29424, 31969, 32754, 32755, AGC= 72, IDX= 406,-0.33, 0.141,-1.390, 0.112,-0.545, PHS= 0.788,-0.801, 0.613, RAW= 144.2,  -8.0, CAL= 144.4,  -9.5, ROT=   5.6,   9.5

2025-09-19T23:56:08.784Z,1758326168.784 [DAT](INFO): got valid direction response:
 23:56:09.1161 LVL= 29424, 31969, 32754, 32755, AGC= 72, IDX= 406,-0.33, 0.141,-1.390, 0.112,-0.545, PHS= 0.788,-0.801, 0.613, RAW= 144.2,  -8.0, CAL= 144.4,  -9.5, ROT=   5.6,   9.5

2025-09-19T23:56:08.785Z,1758326168.785 [DAT](INFO): DAT read: Bearing  47.9,   8.3 (Local)

2025-09-19T23:56:08.785Z,1758326168.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.9,   8.3 (Local)

2025-09-19T23:56:08.787Z,1758326168.787 [DAT](INFO): DAT read: Range 11 to 50 : 374.5 m  (Round-trip  499.4 ms) speed  0.1 m/s

2025-09-19T23:56:08.788Z,1758326168.788 [DAT](INFO): DAT read: user:594>Tx time:23:56:10.2125

2025-09-19T23:56:08.789Z,1758326168.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:08.790Z,1758326168.790 [DAT](INFO): direction in FSK: [0.981578,0.096245,-0.165048]
2025-09-19T23:56:08.790Z,1758326168.790 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:08.794Z,1758326168.794 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:08.794Z,1758326168.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:08.796Z,1758326168.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576843 target range: 375.654510 and range: 376.60 m.
2025-09-19T23:56:09.033Z,1758326169.033 [DAT](INFO): DAT read: 

2025-09-19T23:56:09.035Z,1758326169.035 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:09.178Z,1758326169.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 374.500000 m,
      deltaT: 4.031199 s,
      deltaX: -2.100006 m,
      approachRate: -0.520938 m/s,
      rangeRepo size: 4

2025-09-19T23:56:09.180Z,1758326169.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 373.556061 m,
      bearing: 267.685612 deg,
      lat: 36.779429 deg,
      lon: -121.859890 deg,
      deltaT: 4.031199 s,
      deltaX: -2.098450 m,
      approachRate: -0.520552 m/s,
      posRepo size: 4

2025-09-19T23:56:09.181Z,1758326169.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:09.183Z,1758326169.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 368.947998 m,
      bearing: 267.859376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025890 deg/s,
      cmd heading: 262.233775 deg,
      new cmd heading: 262.212814 deg.

2025-09-19T23:56:09.187Z,1758326169.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576477 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:09.282Z,1758326169.282 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:09.534Z,1758326169.534 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:09.607Z,1758326169.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:09.610Z,1758326169.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 368.709686 m,
      bearing: 267.847890 deg,
      approach rate: -0.554439 m/s,
      LOS rate: -0.026741 deg/s,
      cmd heading: 262.212820 deg,
      new cmd heading: 262.189832 deg.

2025-09-19T23:56:09.611Z,1758326169.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576076 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:09.785Z,1758326169.785 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:09.972Z,1758326169.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:09.975Z,1758326169.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 368.511780 m,
      bearing: 267.838351 deg,
      approach rate: -0.542398 m/s,
      LOS rate: -0.026156 deg/s,
      cmd heading: 262.189843 deg,
      new cmd heading: 262.170756 deg.

2025-09-19T23:56:09.976Z,1758326169.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575743 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:10.039Z,1758326170.039 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:10.289Z,1758326170.289 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:10.391Z,1758326170.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:10.393Z,1758326170.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:10.396Z,1758326170.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 368.275238 m,
      bearing: 267.827804 deg,
      approach rate: -0.561393 m/s,
      LOS rate: -0.025049 deg/s,
      cmd heading: 262.170746 deg,
      new cmd heading: 262.149638 deg.

2025-09-19T23:56:10.397Z,1758326170.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575374 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:10.542Z,1758326170.542 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:10.781Z,1758326170.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:10.793Z,1758326170.793 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:10.801Z,1758326170.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 368.056244 m,
      bearing: 267.818034 deg,
      approach rate: -0.564700 m/s,
      LOS rate: -0.025208 deg/s,
      cmd heading: 262.149627 deg,
      new cmd heading: 262.130076 deg.

2025-09-19T23:56:10.802Z,1758326170.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575033 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:11.045Z,1758326171.045 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:11.185Z,1758326171.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:11.187Z,1758326171.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 367.829315 m,
      bearing: 267.807909 deg,
      approach rate: -0.562358 m/s,
      LOS rate: -0.025105 deg/s,
      cmd heading: 262.130065 deg,
      new cmd heading: 262.109804 deg.

2025-09-19T23:56:11.189Z,1758326171.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574679 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:11.297Z,1758326171.297 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:11.551Z,1758326171.551 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:11.627Z,1758326171.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:11.630Z,1758326171.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 367.580353 m,
      bearing: 267.796327 deg,
      approach rate: -0.563086 m/s,
      LOS rate: -0.026213 deg/s,
      cmd heading: 262.109793 deg,
      new cmd heading: 262.086614 deg.

2025-09-19T23:56:11.631Z,1758326171.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574275 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:11.806Z,1758326171.806 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:11.989Z,1758326171.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:11.991Z,1758326171.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 367.376678 m,
      bearing: 267.786871 deg,
      approach rate: -0.562716 m/s,
      LOS rate: -0.026141 deg/s,
      cmd heading: 262.086625 deg,
      new cmd heading: 262.067702 deg.

2025-09-19T23:56:12.009Z,1758326172.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573944 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:12.058Z,1758326172.058 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:12.311Z,1758326172.311 [DAT](INFO): DAT read: Rx Time:23:56:13.1132

2025-09-19T23:56:12.312Z,1758326172.312 [DAT](INFO): Rx dataTimestamp_ set to:1758326172.311375
2025-09-19T23:56:12.312Z,1758326172.312 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:12.431Z,1758326172.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:12.433Z,1758326172.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:12.435Z,1758326172.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 367.123016 m,
      bearing: 267.776216 deg,
      approach rate: -0.571301 m/s,
      LOS rate: -0.024014 deg/s,
      cmd heading: 262.067692 deg,
      new cmd heading: 262.046368 deg.

2025-09-19T23:56:12.437Z,1758326172.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573572 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:12.561Z,1758326172.561 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:12.805Z,1758326172.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.56 m.
2025-09-19T23:56:12.808Z,1758326172.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.556061 m,
      nav range: 366.910553 m,
      bearing: 267.767329 deg,
      approach rate: -0.570251 m/s,
      LOS rate: -0.023867 deg/s,
      cmd heading: 262.046355 deg,
      new cmd heading: 262.028570 deg.

2025-09-19T23:56:12.809Z,1758326172.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573261 target range: 373.556061 and range: 374.50 m.
2025-09-19T23:56:12.819Z,1758326172.819 [DAT](INFO): DAT read: 23:56:13.1132 LVL= 24992, 32753, 29090, 32755, AGC= 68, IDX= 409,-0.27,-2.413, 2.386,-2.494,-3.033, PHS= 0.722,-0.819, 0.495, RAW= 142.2,  -5.6, CAL= 142.2,  -6.5, ROT=   7.8,   6.5

2025-09-19T23:56:12.820Z,1758326172.820 [DAT](INFO): got valid direction response:
 23:56:13.1132 LVL= 24992, 32753, 29090, 32755, AGC= 68, IDX= 409,-0.27,-2.413, 2.386,-2.494,-3.033, PHS= 0.722,-0.819, 0.495, RAW= 142.2,  -5.6, CAL= 142.2,  -6.5, ROT=   7.8,   6.5

2025-09-19T23:56:12.821Z,1758326172.821 [DAT](INFO): DAT read: Bearing  50.5,   9.4 (Local)

2025-09-19T23:56:12.821Z,1758326172.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.5,   9.4 (Local)

2025-09-19T23:56:12.823Z,1758326172.823 [DAT](INFO): DAT read: Range 11 to 50 : 372.3 m  (Round-trip  496.5 ms) speed  0.5 m/s

2025-09-19T23:56:12.840Z,1758326172.840 [DAT](INFO): DAT read: user:595>Tx time:23:56:14.2125

2025-09-19T23:56:12.840Z,1758326172.840 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:12.841Z,1758326172.841 [DAT](INFO): direction in FSK: [0.984379,0.134843,-0.113203]
2025-09-19T23:56:12.842Z,1758326172.842 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:12.846Z,1758326172.846 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:12.846Z,1758326172.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:13.065Z,1758326173.065 [DAT](INFO): DAT read: 

2025-09-19T23:56:13.066Z,1758326173.066 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:13.208Z,1758326173.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 372.299988 m,
      deltaT: 4.035946 s,
      deltaX: -2.200012 m,
      approachRate: -0.545104 m/s,
      rangeRepo size: 4

2025-09-19T23:56:13.210Z,1758326173.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 371.364258 m,
      bearing: 269.710566 deg,
      lat: 36.779429 deg,
      lon: -121.859905 deg,
      deltaT: 4.035946 s,
      deltaX: -2.191803 m,
      approachRate: -0.543070 m/s,
      posRepo size: 4

2025-09-19T23:56:13.211Z,1758326173.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:13.214Z,1758326173.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 368.029724 m,
      bearing: 267.766036 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023867 deg/s,
      cmd heading: 262.028569 deg,
      new cmd heading: 262.009380 deg.

2025-09-19T23:56:13.215Z,1758326173.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572927 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:13.317Z,1758326173.317 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:13.569Z,1758326173.569 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:13.600Z,1758326173.600 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS3435843,35.1499.5,  0
2025-09-19T23:56:13.641Z,1758326173.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:13.651Z,1758326173.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 367.783691 m,
      bearing: 267.755840 deg,
      approach rate: -0.566849 m/s,
      LOS rate: -0.023508 deg/s,
      cmd heading: 262.009390 deg,
      new cmd heading: 261.988983 deg.

2025-09-19T23:56:13.652Z,1758326173.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572570 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:13.821Z,1758326173.821 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:14.032Z,1758326174.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:14.039Z,1758326174.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 367.569092 m,
      bearing: 267.746969 deg,
      approach rate: -0.550614 m/s,
      LOS rate: -0.022774 deg/s,
      cmd heading: 261.988981 deg,
      new cmd heading: 261.971229 deg.

2025-09-19T23:56:14.042Z,1758326174.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572260 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:14.073Z,1758326174.073 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:14.327Z,1758326174.327 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:14.431Z,1758326174.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:14.433Z,1758326174.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:14.436Z,1758326174.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 367.316040 m,
      bearing: 267.736751 deg,
      approach rate: -0.629394 m/s,
      LOS rate: -0.025432 deg/s,
      cmd heading: 261.971223 deg,
      new cmd heading: 261.950772 deg.

2025-09-19T23:56:14.437Z,1758326174.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571903 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:14.577Z,1758326174.577 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:14.824Z,1758326174.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:14.827Z,1758326174.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 367.081390 m,
      bearing: 267.727313 deg,
      approach rate: -0.600576 m/s,
      LOS rate: -0.024171 deg/s,
      cmd heading: 261.950759 deg,
      new cmd heading: 261.931872 deg.

2025-09-19T23:56:14.829Z,1758326174.829 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:14.829Z,1758326174.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571574 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:15.081Z,1758326175.081 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:15.245Z,1758326175.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:15.247Z,1758326175.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 366.839691 m,
      bearing: 267.717622 deg,
      approach rate: -0.598162 m/s,
      LOS rate: -0.024000 deg/s,
      cmd heading: 261.931881 deg,
      new cmd heading: 261.912485 deg.

2025-09-19T23:56:15.273Z,1758326175.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571235 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:15.337Z,1758326175.337 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:15.586Z,1758326175.586 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:15.692Z,1758326175.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:15.698Z,1758326175.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 366.571869 m,
      bearing: 267.706840 deg,
      approach rate: -0.577826 m/s,
      LOS rate: -0.023277 deg/s,
      cmd heading: 261.912483 deg,
      new cmd heading: 261.890905 deg.

2025-09-19T23:56:15.699Z,1758326175.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570858 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:15.837Z,1758326175.837 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:16.082Z,1758326176.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:16.085Z,1758326176.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 366.330933 m,
      bearing: 267.697176 deg,
      approach rate: -0.617178 m/s,
      LOS rate: -0.024774 deg/s,
      cmd heading: 261.890900 deg,
      new cmd heading: 261.871557 deg.

2025-09-19T23:56:16.086Z,1758326176.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570521 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:16.089Z,1758326176.089 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:16.346Z,1758326176.346 [DAT](INFO): DAT read: Rx Time:23:56:17.1103

2025-09-19T23:56:16.347Z,1758326176.347 [DAT](INFO): Rx dataTimestamp_ set to:1758326176.346650
2025-09-19T23:56:16.349Z,1758326176.349 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:16.501Z,1758326176.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:16.503Z,1758326176.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.36 m.
2025-09-19T23:56:16.506Z,1758326176.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.364258 m,
      nav range: 366.079620 m,
      bearing: 267.686417 deg,
      approach rate: -0.596468 m/s,
      LOS rate: -0.025553 deg/s,
      cmd heading: 261.871556 deg,
      new cmd heading: 261.850024 deg.

2025-09-19T23:56:16.507Z,1758326176.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570145 target range: 371.364258 and range: 372.30 m.
2025-09-19T23:56:16.593Z,1758326176.593 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:16.851Z,1758326176.851 [DAT](INFO): DAT read: 23:56:17.1103 LVL= 24496, 32753, 31058, 32755, AGC= 68, IDX= 411,-0.34,-2.626, 2.250,-2.704, 3.097, PHS= 0.663,-0.802, 0.438, RAW= 141.8,  -4.4, CAL= 141.8,  -5.1, ROT=   8.2,   5.1

2025-09-19T23:56:16.852Z,1758326176.852 [DAT](INFO): got valid direction response:
 23:56:17.1103 LVL= 24496, 32753, 31058, 32755, AGC= 68, IDX= 411,-0.34,-2.626, 2.250,-2.704, 3.097, PHS= 0.663,-0.802, 0.438, RAW= 141.8,  -4.4, CAL= 141.8,  -5.1, ROT=   8.2,   5.1

2025-09-19T23:56:16.853Z,1758326176.853 [DAT](INFO): DAT read: Bearing  51.6,   9.0 (Local)

2025-09-19T23:56:16.853Z,1758326176.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6,   9.0 (Local)

2025-09-19T23:56:16.854Z,1758326176.854 [DAT](INFO): DAT read: Range 11 to 50 : 370.2 m  (Round-trip  493.6 ms) speed  0.5 m/s

2025-09-19T23:56:16.855Z,1758326176.855 [DAT](INFO): DAT read: user:596>Tx time:23:56:18.2125

2025-09-19T23:56:16.856Z,1758326176.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:16.857Z,1758326176.857 [DAT](INFO): direction in FSK: [0.985858,0.142064,-0.088894]
2025-09-19T23:56:16.857Z,1758326176.857 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:16.873Z,1758326176.873 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:16.873Z,1758326176.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:16.965Z,1758326176.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 370.200012 m,
      deltaT: 4.031997 s,
      deltaX: -2.099976 m,
      approachRate: -0.520828 m/s,
      rangeRepo size: 4

2025-09-19T23:56:16.967Z,1758326176.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 369.266479 m,
      bearing: 269.601063 deg,
      lat: 36.779509 deg,
      lon: -121.859907 deg,
      deltaT: 4.031997 s,
      deltaX: -2.097778 m,
      approachRate: -0.520283 m/s,
      posRepo size: 4

2025-09-19T23:56:16.967Z,1758326176.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:16.974Z,1758326176.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 365.721405 m,
      bearing: 269.069657 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025553 deg/s,
      cmd heading: 261.850028 deg,
      new cmd heading: 261.826694 deg.

2025-09-19T23:56:16.975Z,1758326176.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569738 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:17.097Z,1758326177.097 [DAT](INFO): DAT read: 

2025-09-19T23:56:17.097Z,1758326177.097 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:17.351Z,1758326177.351 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:17.354Z,1758326177.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:17.371Z,1758326177.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 365.504425 m,
      bearing: 269.061338 deg,
      approach rate: -0.564671 m/s,
      LOS rate: -0.021661 deg/s,
      cmd heading: 261.826696 deg,
      new cmd heading: 261.810049 deg.

2025-09-19T23:56:17.376Z,1758326177.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569448 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:17.601Z,1758326177.601 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:17.723Z,1758326177.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:17.727Z,1758326177.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 365.255554 m,
      bearing: 269.052143 deg,
      approach rate: -0.657081 m/s,
      LOS rate: -0.024293 deg/s,
      cmd heading: 261.810057 deg,
      new cmd heading: 261.791655 deg.

2025-09-19T23:56:17.730Z,1758326177.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569126 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:17.853Z,1758326177.853 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:18.105Z,1758326178.105 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:18.149Z,1758326178.149 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-09-19T23:56:18.167Z,1758326178.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:18.170Z,1758326178.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 364.996155 m,
      bearing: 269.042553 deg,
      approach rate: -0.584213 m/s,
      LOS rate: -0.021613 deg/s,
      cmd heading: 261.791643 deg,
      new cmd heading: 261.772450 deg.

2025-09-19T23:56:18.171Z,1758326178.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568791 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:18.359Z,1758326178.359 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:18.569Z,1758326178.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:18.571Z,1758326178.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:18.574Z,1758326178.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 364.765930 m,
      bearing: 269.033938 deg,
      approach rate: -0.569275 m/s,
      LOS rate: -0.021315 deg/s,
      cmd heading: 261.772437 deg,
      new cmd heading: 261.755196 deg.

2025-09-19T23:56:18.575Z,1758326178.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568490 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:18.609Z,1758326178.609 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:18.861Z,1758326178.861 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:18.933Z,1758326178.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:18.936Z,1758326178.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 364.559479 m,
      bearing: 269.026177 deg,
      approach rate: -0.570620 m/s,
      LOS rate: -0.021464 deg/s,
      cmd heading: 261.755197 deg,
      new cmd heading: 261.739666 deg.

2025-09-19T23:56:18.937Z,1758326178.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568219 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:19.113Z,1758326179.113 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:19.314Z,1758326179.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:19.316Z,1758326179.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 364.342651 m,
      bearing: 269.018011 deg,
      approach rate: -0.569859 m/s,
      LOS rate: -0.021475 deg/s,
      cmd heading: 261.739679 deg,
      new cmd heading: 261.723337 deg.

2025-09-19T23:56:19.317Z,1758326179.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567934 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:19.369Z,1758326179.369 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:19.621Z,1758326179.621 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:19.759Z,1758326179.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:19.790Z,1758326179.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 364.094666 m,
      bearing: 269.008645 deg,
      approach rate: -0.556502 m/s,
      LOS rate: -0.021032 deg/s,
      cmd heading: 261.723341 deg,
      new cmd heading: 261.704597 deg.

2025-09-19T23:56:19.791Z,1758326179.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567607 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:19.875Z,1758326179.875 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:20.125Z,1758326180.125 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:20.143Z,1758326180.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:20.146Z,1758326180.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 363.875488 m,
      bearing: 269.000352 deg,
      approach rate: -0.571658 m/s,
      LOS rate: -0.021643 deg/s,
      cmd heading: 261.704599 deg,
      new cmd heading: 261.688003 deg.

2025-09-19T23:56:20.147Z,1758326180.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567317 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:20.379Z,1758326180.379 [DAT](INFO): DAT read: Rx Time:23:56:21.1087

2025-09-19T23:56:20.382Z,1758326180.382 [DAT](INFO): Rx dataTimestamp_ set to:1758326180.380552
2025-09-19T23:56:20.383Z,1758326180.383 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:20.560Z,1758326180.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-19T23:56:20.563Z,1758326180.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.266479 m,
      nav range: 363.637848 m,
      bearing: 268.991262 deg,
      approach rate: -0.569478 m/s,
      LOS rate: -0.021798 deg/s,
      cmd heading: 261.688016 deg,
      new cmd heading: 261.669824 deg.

2025-09-19T23:56:20.564Z,1758326180.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567000 target range: 369.266479 and range: 370.20 m.
2025-09-19T23:56:20.630Z,1758326180.630 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:20.886Z,1758326180.886 [DAT](INFO): DAT read: 23:56:21.1087 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 275, 0.11, 0.513,-1.512, 0.308, 0.093, PHS= 0.522,-1.560, 0.170, RAW= 140.9,   9.0, CAL= 140.5,   9.9, ROT=   9.5,  -9.9

2025-09-19T23:56:20.887Z,1758326180.887 [DAT](INFO): got valid direction response:
 23:56:21.1087 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 275, 0.11, 0.513,-1.512, 0.308, 0.093, PHS= 0.522,-1.560, 0.170, RAW= 140.9,   9.0, CAL= 140.5,   9.9, ROT=   9.5,  -9.9

2025-09-19T23:56:20.889Z,1758326180.889 [DAT](INFO): DAT read: Bearing  66.7,   9.3 (Local)

2025-09-19T23:56:20.889Z,1758326180.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.7,   9.3 (Local)

2025-09-19T23:56:20.890Z,1758326180.890 [DAT](INFO): DAT read: Range 11 to 50 : 369.0 m  (Round-trip  492.1 ms) speed  0.0 m/s

2025-09-19T23:56:20.891Z,1758326180.891 [DAT](INFO): DAT read: user:597>Tx time:23:56:22.2125

2025-09-19T23:56:20.898Z,1758326180.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:20.899Z,1758326180.899 [DAT](INFO): direction in FSK: [0.971599,0.162590,0.171929]
2025-09-19T23:56:20.899Z,1758326180.899 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:20.919Z,1758326180.919 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:20.919Z,1758326180.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:20.998Z,1758326180.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 369.000000 m,
      deltaT: 4.035906 s,
      deltaX: -1.200012 m,
      approachRate: -0.297334 m/s,
      rangeRepo size: 4

2025-09-19T23:56:21.006Z,1758326181.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.067352 m,
      bearing: 271.300420 deg,
      lat: 36.779540 deg,
      lon: -121.859907 deg,
      deltaT: 4.035906 s,
      deltaX: -1.199127 m,
      approachRate: -0.297115 m/s,
      posRepo size: 4

2025-09-19T23:56:21.006Z,1758326181.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:21.014Z,1758326181.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 363.354370 m,
      bearing: 269.515434 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021798 deg/s,
      cmd heading: 261.669820 deg,
      new cmd heading: 261.650727 deg.

2025-09-19T23:56:21.021Z,1758326181.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566667 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:21.134Z,1758326181.134 [DAT](INFO): DAT read: 

2025-09-19T23:56:21.135Z,1758326181.135 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:21.335Z,1758326181.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:21.337Z,1758326181.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:21.340Z,1758326181.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 363.148865 m,
      bearing: 269.507873 deg,
      approach rate: -0.605735 m/s,
      LOS rate: -0.022297 deg/s,
      cmd heading: 261.650723 deg,
      new cmd heading: 261.635593 deg.

2025-09-19T23:56:21.341Z,1758326181.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566402 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:21.388Z,1758326181.388 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:21.637Z,1758326181.637 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:21.773Z,1758326181.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:21.775Z,1758326181.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 362.897766 m,
      bearing: 269.498122 deg,
      approach rate: -0.576647 m/s,
      LOS rate: -0.022409 deg/s,
      cmd heading: 261.635587 deg,
      new cmd heading: 261.616072 deg.

2025-09-19T23:56:21.777Z,1758326181.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566062 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:21.889Z,1758326181.889 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:22.141Z,1758326182.141 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:22.168Z,1758326182.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:22.171Z,1758326182.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 362.676727 m,
      bearing: 269.489526 deg,
      approach rate: -0.564823 m/s,
      LOS rate: -0.021979 deg/s,
      cmd heading: 261.616080 deg,
      new cmd heading: 261.598877 deg.

2025-09-19T23:56:22.176Z,1758326182.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565762 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:22.395Z,1758326182.395 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:22.627Z,1758326182.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:22.637Z,1758326182.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 362.432465 m,
      bearing: 269.479398 deg,
      approach rate: -0.527070 m/s,
      LOS rate: -0.021869 deg/s,
      cmd heading: 261.598868 deg,
      new cmd heading: 261.578598 deg.

2025-09-19T23:56:22.638Z,1758326182.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565408 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:22.645Z,1758326182.645 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:22.897Z,1758326182.897 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:22.948Z,1758326182.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:22.951Z,1758326182.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 362.228271 m,
      bearing: 269.470942 deg,
      approach rate: -0.637048 m/s,
      LOS rate: -0.026396 deg/s,
      cmd heading: 261.578596 deg,
      new cmd heading: 261.561675 deg.

2025-09-19T23:56:22.952Z,1758326182.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565113 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:23.152Z,1758326183.152 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:23.350Z,1758326183.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:23.352Z,1758326183.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:23.354Z,1758326183.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 361.999878 m,
      bearing: 269.461487 deg,
      approach rate: -0.565679 m/s,
      LOS rate: -0.023434 deg/s,
      cmd heading: 261.561684 deg,
      new cmd heading: 261.542762 deg.

2025-09-19T23:56:23.355Z,1758326183.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564782 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:23.403Z,1758326183.403 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:23.653Z,1758326183.653 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:23.834Z,1758326183.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:23.837Z,1758326183.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 361.737122 m,
      bearing: 269.450367 deg,
      approach rate: -0.545036 m/s,
      LOS rate: -0.023083 deg/s,
      cmd heading: 261.542751 deg,
      new cmd heading: 261.520495 deg.

2025-09-19T23:56:23.838Z,1758326183.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564394 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:23.905Z,1758326183.905 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:24.157Z,1758326184.157 [DAT](INFO): DAT read: Rx Time:23:56:25.1047

2025-09-19T23:56:24.157Z,1758326184.157 [DAT](INFO): Rx dataTimestamp_ set to:1758326184.157176
2025-09-19T23:56:24.158Z,1758326184.158 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:24.225Z,1758326184.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:24.227Z,1758326184.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 361.515106 m,
      bearing: 269.440972 deg,
      approach rate: -0.567763 m/s,
      LOS rate: -0.024040 deg/s,
      cmd heading: 261.520485 deg,
      new cmd heading: 261.501684 deg.

2025-09-19T23:56:24.233Z,1758326184.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564065 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:24.411Z,1758326184.411 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:24.663Z,1758326184.663 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:24.670Z,1758326184.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.07 m.
2025-09-19T23:56:24.707Z,1758326184.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.067352 m,
      nav range: 361.279297 m,
      bearing: 269.430601 deg,
      approach rate: -0.547312 m/s,
      LOS rate: -0.024086 deg/s,
      cmd heading: 261.501688 deg,
      new cmd heading: 261.480933 deg.

2025-09-19T23:56:24.714Z,1758326184.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563703 target range: 368.067352 and range: 369.00 m.
2025-09-19T23:56:24.919Z,1758326184.919 [DAT](INFO): DAT read: 23:56:25.1047 LVL= 26544, 30881, 31218, 32755, AGC= 71, IDX= 262,-0.24,-0.800,-2.804,-1.014,-1.210, PHS= 0.513,-1.549, 0.152, RAW= 140.6,   9.3, CAL= 140.1,  10.2, ROT=   9.9, -10.2

2025-09-19T23:56:24.920Z,1758326184.920 [DAT](INFO): got valid direction response:
 23:56:25.1047 LVL= 26544, 30881, 31218, 32755, AGC= 71, IDX= 262,-0.24,-0.800,-2.804,-1.014,-1.210, PHS= 0.513,-1.549, 0.152, RAW= 140.6,   9.3, CAL= 140.1,  10.2, ROT=   9.9, -10.2

2025-09-19T23:56:24.921Z,1758326184.921 [DAT](INFO): DAT read: Bearing  67.0,   9.3 (Local)

2025-09-19T23:56:24.921Z,1758326184.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0,   9.3 (Local)

2025-09-19T23:56:24.922Z,1758326184.922 [DAT](INFO): DAT read: Range 11 to 50 : 366.0 m  (Round-trip  488.1 ms) speed  0.4 m/s

2025-09-19T23:56:24.923Z,1758326184.923 [DAT](INFO): DAT read: Tx time:23:56:26.1687

2025-09-19T23:56:24.923Z,1758326184.923 [DAT](INFO): Ping request sent.
2025-09-19T23:56:24.924Z,1758326184.924 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:56:24.924Z,1758326184.924 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:24.925Z,1758326184.925 [DAT](INFO): direction in FSK: [0.969540,0.169212,0.177085]
2025-09-19T23:56:24.925Z,1758326184.925 [DAT](INFO): publishing transmit ping time
2025-09-19T23:56:24.926Z,1758326184.926 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:24.929Z,1758326184.929 [DAT](INFO): publishing transmit ping time
2025-09-19T23:56:24.929Z,1758326184.929 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:25.157Z,1758326185.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 366.000000 m,
      deltaT: 4.032020 s,
      deltaX: -3.000000 m,
      approachRate: -0.744044 m/s,
      rangeRepo size: 4

2025-09-19T23:56:25.159Z,1758326185.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 365.076355 m,
      bearing: 271.523982 deg,
      lat: 36.779542 deg,
      lon: -121.859907 deg,
      deltaT: 4.032020 s,
      deltaX: -2.990997 m,
      approachRate: -0.741811 m/s,
      posRepo size: 4

2025-09-19T23:56:25.159Z,1758326185.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:25.170Z,1758326185.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 360.980652 m,
      bearing: 269.450001 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024086 deg/s,
      cmd heading: 261.480924 deg,
      new cmd heading: 261.457014 deg.

2025-09-19T23:56:25.171Z,1758326185.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563286 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:25.554Z,1758326185.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:25.557Z,1758326185.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:25.559Z,1758326185.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 360.749878 m,
      bearing: 269.439456 deg,
      approach rate: -0.570402 m/s,
      LOS rate: -0.026081 deg/s,
      cmd heading: 261.457019 deg,
      new cmd heading: 261.435915 deg.

2025-09-19T23:56:25.560Z,1758326185.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562918 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:25.669Z,1758326185.669 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:56:25.669Z,1758326185.669 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:56:25.669Z,1758326185.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:25.893Z,1758326185.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:25.895Z,1758326185.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 360.562927 m,
      bearing: 269.430903 deg,
      approach rate: -0.556022 m/s,
      LOS rate: -0.025451 deg/s,
      cmd heading: 261.435927 deg,
      new cmd heading: 261.418813 deg.

2025-09-19T23:56:25.897Z,1758326185.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562619 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:25.921Z,1758326185.921 [DAT](INFO): DAT read: user:598>

2025-09-19T23:56:25.922Z,1758326185.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997908
2025-09-19T23:56:26.173Z,1758326186.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249253
2025-09-19T23:56:26.290Z,1758326186.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:26.309Z,1758326186.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 360.342651 m,
      bearing: 269.420847 deg,
      approach rate: -0.554720 m/s,
      LOS rate: -0.025339 deg/s,
      cmd heading: 261.418824 deg,
      new cmd heading: 261.398700 deg.

2025-09-19T23:56:26.310Z,1758326186.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562268 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:26.425Z,1758326186.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501142
2025-09-19T23:56:26.678Z,1758326186.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754257
2025-09-19T23:56:26.761Z,1758326186.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:26.769Z,1758326186.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 360.085999 m,
      bearing: 269.410043 deg,
      approach rate: -0.544452 m/s,
      LOS rate: -0.022937 deg/s,
      cmd heading: 261.398689 deg,
      new cmd heading: 261.377064 deg.

2025-09-19T23:56:26.770Z,1758326186.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561890 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:26.929Z,1758326186.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005217
2025-09-19T23:56:27.111Z,1758326187.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:27.113Z,1758326187.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 359.874207 m,
      bearing: 269.401117 deg,
      approach rate: -0.606166 m/s,
      LOS rate: -0.025561 deg/s,
      cmd heading: 261.377051 deg,
      new cmd heading: 261.359189 deg.

2025-09-19T23:56:27.114Z,1758326187.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561578 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:27.182Z,1758326187.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258048
2025-09-19T23:56:27.433Z,1758326187.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509144
2025-09-19T23:56:27.583Z,1758326187.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:27.586Z,1758326187.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:27.589Z,1758326187.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 359.604370 m,
      bearing: 269.389908 deg,
      approach rate: -0.568135 m/s,
      LOS rate: -0.023617 deg/s,
      cmd heading: 261.359183 deg,
      new cmd heading: 261.336749 deg.

2025-09-19T23:56:27.590Z,1758326187.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561187 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:27.685Z,1758326187.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761390
2025-09-19T23:56:27.917Z,1758326187.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:27.919Z,1758326187.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 359.415833 m,
      bearing: 269.382062 deg,
      approach rate: -0.569435 m/s,
      LOS rate: -0.023710 deg/s,
      cmd heading: 261.336753 deg,
      new cmd heading: 261.321052 deg.

2025-09-19T23:56:27.920Z,1758326187.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560913 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:27.939Z,1758326187.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014984
2025-09-19T23:56:28.189Z,1758326188.189 [DAT](INFO): DAT read: Rx Time:23:56:29.0580

2025-09-19T23:56:28.190Z,1758326188.190 [DAT](INFO): Rx dataTimestamp_ set to:1758326188.189422
2025-09-19T23:56:28.190Z,1758326188.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266598
2025-09-19T23:56:28.336Z,1758326188.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.08 m.
2025-09-19T23:56:28.339Z,1758326188.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.076355 m,
      nav range: 359.183899 m,
      bearing: 269.372406 deg,
      approach rate: -0.552899 m/s,
      LOS rate: -0.023034 deg/s,
      cmd heading: 261.321043 deg,
      new cmd heading: 261.301718 deg.

2025-09-19T23:56:28.340Z,1758326188.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560575 target range: 365.076355 and range: 366.00 m.
2025-09-19T23:56:28.441Z,1758326188.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517311
2025-09-19T23:56:28.698Z,1758326188.698 [DAT](INFO): DAT read: 23:56:29.0580 LVL= 28064, 27633, 32754, 31395, AGC= 73, IDX=   7, 0.03,-2.524, 1.838,-2.743,-2.908, PHS= 0.486,-1.492, 0.121, RAW= 140.0,   9.7, CAL= 139.5,  10.7, ROT=  10.5, -10.7

2025-09-19T23:56:28.700Z,1758326188.700 [DAT](INFO): got valid direction response:
 23:56:29.0580 LVL= 28064, 27633, 32754, 31395, AGC= 73, IDX=   7, 0.03,-2.524, 1.838,-2.743,-2.908, PHS= 0.486,-1.492, 0.121, RAW= 140.0,   9.7, CAL= 139.5,  10.7, ROT=  10.5, -10.7

2025-09-19T23:56:28.705Z,1758326188.705 [DAT](INFO): DAT read: Bearing  67.1,   9.6 (Local)

2025-09-19T23:56:28.705Z,1758326188.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1,   9.6 (Local)

2025-09-19T23:56:28.706Z,1758326188.706 [DAT](INFO): DAT read: Range 11 to 50 : 363.8 m  (Round-trip  485.1 ms) speed  0.4 m/s

2025-09-19T23:56:28.707Z,1758326188.707 [DAT](INFO): DAT read: user:599>Tx time:23:56:30.1625

2025-09-19T23:56:28.721Z,1758326188.721 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:28.722Z,1758326188.722 [DAT](INFO): direction in FSK: [0.966159,0.179067,0.185667]
2025-09-19T23:56:28.723Z,1758326188.723 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:28.756Z,1758326188.756 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:56:28.756Z,1758326188.756 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:56:28.757Z,1758326188.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:28.867Z,1758326188.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 363.799988 m,
      deltaT: 3.780010 s,
      deltaX: -2.200012 m,
      approachRate: -0.582012 m/s,
      rangeRepo size: 4

2025-09-19T23:56:28.877Z,1758326188.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 362.881378 m,
      bearing: 272.091814 deg,
      lat: 36.779641 deg,
      lon: -121.859897 deg,
      deltaT: 3.780010 s,
      deltaX: -2.194977 m,
      approachRate: -0.580680 m/s,
      posRepo size: 4

2025-09-19T23:56:28.878Z,1758326188.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:28.884Z,1758326188.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 358.048706 m,
      bearing: 271.135967 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023034 deg/s,
      cmd heading: 261.301727 deg,
      new cmd heading: 261.277320 deg.

2025-09-19T23:56:28.885Z,1758326188.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560150 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:28.946Z,1758326188.946 [DAT](INFO): DAT read: 

2025-09-19T23:56:28.947Z,1758326188.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023144
2025-09-19T23:56:29.197Z,1758326189.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273118
2025-09-19T23:56:29.214Z,1758326189.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:29.217Z,1758326189.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 357.838043 m,
      bearing: 271.128814 deg,
      approach rate: -0.605795 m/s,
      LOS rate: -0.020579 deg/s,
      cmd heading: 261.277330 deg,
      new cmd heading: 261.263018 deg.

2025-09-19T23:56:29.218Z,1758326189.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559900 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:29.449Z,1758326189.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525204
2025-09-19T23:56:29.638Z,1758326189.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:29.643Z,1758326189.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:29.646Z,1758326189.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 357.597046 m,
      bearing: 271.119886 deg,
      approach rate: -0.565551 m/s,
      LOS rate: -0.020966 deg/s,
      cmd heading: 261.263014 deg,
      new cmd heading: 261.245146 deg.

2025-09-19T23:56:29.647Z,1758326189.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559588 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:29.702Z,1758326189.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778047
2025-09-19T23:56:29.953Z,1758326189.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029252
2025-09-19T23:56:30.050Z,1758326190.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:30.057Z,1758326190.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 357.373505 m,
      bearing: 271.111582 deg,
      approach rate: -0.544557 m/s,
      LOS rate: -0.020243 deg/s,
      cmd heading: 261.245146 deg,
      new cmd heading: 261.228527 deg.

2025-09-19T23:56:30.058Z,1758326190.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559298 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:30.205Z,1758326190.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281205
2025-09-19T23:56:30.425Z,1758326190.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:30.427Z,1758326190.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 357.152649 m,
      bearing: 271.103358 deg,
      approach rate: -0.590058 m/s,
      LOS rate: -0.021986 deg/s,
      cmd heading: 261.228535 deg,
      new cmd heading: 261.212076 deg.

2025-09-19T23:56:30.429Z,1758326190.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559011 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:30.461Z,1758326190.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537588
2025-09-19T23:56:30.713Z,1758326190.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.789366
2025-09-19T23:56:30.844Z,1758326190.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:30.847Z,1758326190.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 356.906830 m,
      bearing: 271.095645 deg,
      approach rate: -0.586198 m/s,
      LOS rate: -0.018406 deg/s,
      cmd heading: 261.212088 deg,
      new cmd heading: 261.196651 deg.

2025-09-19T23:56:30.848Z,1758326190.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558742 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:30.965Z,1758326190.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.041190
2025-09-19T23:56:31.217Z,1758326191.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293281
2025-09-19T23:56:31.251Z,1758326191.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:31.258Z,1758326191.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 356.673279 m,
      bearing: 271.088307 deg,
      approach rate: -0.573816 m/s,
      LOS rate: -0.018040 deg/s,
      cmd heading: 261.196652 deg,
      new cmd heading: 261.181966 deg.

2025-09-19T23:56:31.259Z,1758326191.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558485 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:31.469Z,1758326191.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545212
2025-09-19T23:56:31.650Z,1758326191.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:31.652Z,1758326191.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:31.655Z,1758326191.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 356.429596 m,
      bearing: 271.081134 deg,
      approach rate: -0.607582 m/s,
      LOS rate: -0.017896 deg/s,
      cmd heading: 261.181953 deg,
      new cmd heading: 261.167598 deg.

2025-09-19T23:56:31.656Z,1758326191.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558235 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:31.723Z,1758326191.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798864
2025-09-19T23:56:31.973Z,1758326191.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.049246
2025-09-19T23:56:32.046Z,1758326192.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:32.049Z,1758326192.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 356.194519 m,
      bearing: 271.074196 deg,
      approach rate: -0.596158 m/s,
      LOS rate: -0.017608 deg/s,
      cmd heading: 261.167610 deg,
      new cmd heading: 261.153723 deg.

2025-09-19T23:56:32.053Z,1758326192.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557992 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:32.225Z,1758326192.225 [DAT](INFO): DAT read: Rx Time:23:56:33.0492

2025-09-19T23:56:32.225Z,1758326192.225 [DAT](INFO): Rx dataTimestamp_ set to:1758326192.225075
2025-09-19T23:56:32.226Z,1758326192.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302252
2025-09-19T23:56:32.437Z,1758326192.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.88 m.
2025-09-19T23:56:32.439Z,1758326192.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.881378 m,
      nav range: 355.962128 m,
      bearing: 271.067336 deg,
      approach rate: -0.595428 m/s,
      LOS rate: -0.017586 deg/s,
      cmd heading: 261.153731 deg,
      new cmd heading: 261.140004 deg.

2025-09-19T23:56:32.441Z,1758326192.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557753 target range: 362.881378 and range: 363.80 m.
2025-09-19T23:56:32.477Z,1758326192.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553374
2025-09-19T23:56:32.738Z,1758326192.738 [DAT](INFO): DAT read: 23:56:33.0492 LVL= 27280, 32497, 30226, 32755, AGC= 70, IDX= 410, 0.39, 0.529,-1.083, 0.434,-0.023, PHS= 0.654,-1.015, 0.413, RAW= 142.3,  -0.7, CAL= 142.1,  -0.5, ROT=   7.9,   0.5

2025-09-19T23:56:32.739Z,1758326192.739 [DAT](INFO): got valid direction response:
 23:56:33.0492 LVL= 27280, 32497, 30226, 32755, AGC= 70, IDX= 410, 0.39, 0.529,-1.083, 0.434,-0.023, PHS= 0.654,-1.015, 0.413, RAW= 142.3,  -0.7, CAL= 142.1,  -0.5, ROT=   7.9,   0.5

2025-09-19T23:56:32.741Z,1758326192.741 [DAT](INFO): DAT read: Bearing  55.3,   7.2 (Local)

2025-09-19T23:56:32.741Z,1758326192.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.3,   7.2 (Local)

2025-09-19T23:56:32.743Z,1758326192.743 [DAT](INFO): DAT read: Range 11 to 50 : 361.9 m  (Round-trip  482.6 ms) speed  0.4 m/s

2025-09-19T23:56:32.749Z,1758326192.749 [DAT](INFO): DAT read: Tx time:23:56:34.1125

2025-09-19T23:56:32.749Z,1758326192.749 [DAT](INFO): Ping request sent.
2025-09-19T23:56:32.749Z,1758326192.749 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:56:32.750Z,1758326192.750 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:32.751Z,1758326192.751 [DAT](INFO): direction in FSK: [0.990472,0.137439,-0.008727]
2025-09-19T23:56:32.752Z,1758326192.752 [DAT](INFO): publishing transmit ping time
2025-09-19T23:56:32.752Z,1758326192.752 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:32.781Z,1758326192.781 [DAT](INFO): publishing transmit ping time
2025-09-19T23:56:32.782Z,1758326192.782 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:32.900Z,1758326192.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 361.899994 m,
      deltaT: 4.036626 s,
      deltaX: -1.899994 m,
      approachRate: -0.470689 m/s,
      rangeRepo size: 4

2025-09-19T23:56:32.902Z,1758326192.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 360.985657 m,
      bearing: 269.275486 deg,
      lat: 36.779641 deg,
      lon: -121.859897 deg,
      deltaT: 4.036626 s,
      deltaX: -1.895721 m,
      approachRate: -0.469630 m/s,
      posRepo size: 4

2025-09-19T23:56:32.903Z,1758326192.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:32.910Z,1758326192.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 355.704987 m,
      bearing: 271.059533 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017586 deg/s,
      cmd heading: 261.140016 deg,
      new cmd heading: 261.123881 deg.

2025-09-19T23:56:32.911Z,1758326192.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557471 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:33.296Z,1758326193.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:33.302Z,1758326193.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 355.491669 m,
      bearing: 271.053073 deg,
      approach rate: -0.533105 m/s,
      LOS rate: -0.016154 deg/s,
      cmd heading: 261.123869 deg,
      new cmd heading: 261.110941 deg.

2025-09-19T23:56:33.303Z,1758326193.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557246 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:33.687Z,1758326193.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:33.690Z,1758326193.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:33.693Z,1758326193.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 355.232788 m,
      bearing: 271.045187 deg,
      approach rate: -0.656839 m/s,
      LOS rate: -0.020023 deg/s,
      cmd heading: 261.110947 deg,
      new cmd heading: 261.095163 deg.

2025-09-19T23:56:33.694Z,1758326193.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556970 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:33.737Z,1758326193.737 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:56:33.738Z,1758326193.738 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:56:33.738Z,1758326193.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:33.990Z,1758326193.990 [DAT](INFO): DAT read: user:600>

2025-09-19T23:56:33.991Z,1758326193.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241822
2025-09-19T23:56:34.069Z,1758326194.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:34.072Z,1758326194.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 355.017151 m,
      bearing: 271.038621 deg,
      approach rate: -0.567864 m/s,
      LOS rate: -0.017302 deg/s,
      cmd heading: 261.095155 deg,
      new cmd heading: 261.082015 deg.

2025-09-19T23:56:34.073Z,1758326194.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556741 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:34.241Z,1758326194.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491346
2025-09-19T23:56:34.457Z,1758326194.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:34.459Z,1758326194.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 354.780151 m,
      bearing: 271.031418 deg,
      approach rate: -0.611924 m/s,
      LOS rate: -0.018611 deg/s,
      cmd heading: 261.082014 deg,
      new cmd heading: 261.067598 deg.

2025-09-19T23:56:34.461Z,1758326194.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556489 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:34.494Z,1758326194.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744151
2025-09-19T23:56:34.746Z,1758326194.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996001
2025-09-19T23:56:34.893Z,1758326194.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:34.895Z,1758326194.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 354.531769 m,
      bearing: 271.023233 deg,
      approach rate: -0.569656 m/s,
      LOS rate: -0.018785 deg/s,
      cmd heading: 261.067589 deg,
      new cmd heading: 261.051207 deg.

2025-09-19T23:56:34.896Z,1758326194.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:56:34.898Z,1758326194.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556203 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:34.998Z,1758326194.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247999
2025-09-19T23:56:35.249Z,1758326195.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499451
2025-09-19T23:56:35.278Z,1758326195.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:35.281Z,1758326195.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 354.312836 m,
      bearing: 271.016021 deg,
      approach rate: -0.568808 m/s,
      LOS rate: -0.018750 deg/s,
      cmd heading: 261.051196 deg,
      new cmd heading: 261.036762 deg.

2025-09-19T23:56:35.282Z,1758326195.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555951 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:35.502Z,1758326195.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752432
2025-09-19T23:56:35.694Z,1758326195.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:35.699Z,1758326195.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:35.702Z,1758326195.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 354.074463 m,
      bearing: 271.008550 deg,
      approach rate: -0.565130 m/s,
      LOS rate: -0.017723 deg/s,
      cmd heading: 261.036771 deg,
      new cmd heading: 261.021820 deg.

2025-09-19T23:56:35.703Z,1758326195.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555690 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:35.754Z,1758326195.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004128
2025-09-19T23:56:35.900Z,1758326195.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:56:36.007Z,1758326196.007 [DAT](INFO): DAT read: Rx Time:23:56:36.9962

2025-09-19T23:56:36.007Z,1758326196.007 [DAT](INFO): Rx dataTimestamp_ set to:1758326196.006995
2025-09-19T23:56:36.008Z,1758326196.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258420
2025-09-19T23:56:36.090Z,1758326196.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:36.109Z,1758326196.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 353.850037 m,
      bearing: 271.001503 deg,
      approach rate: -0.574227 m/s,
      LOS rate: -0.018043 deg/s,
      cmd heading: 261.021826 deg,
      new cmd heading: 261.007723 deg.

2025-09-19T23:56:36.113Z,1758326196.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555444 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:36.257Z,1758326196.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507276
2025-09-19T23:56:36.479Z,1758326196.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.99 m.
2025-09-19T23:56:36.504Z,1758326196.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.985657 m,
      nav range: 353.629333 m,
      bearing: 270.994567 deg,
      approach rate: -0.568541 m/s,
      LOS rate: -0.017878 deg/s,
      cmd heading: 261.007729 deg,
      new cmd heading: 260.993849 deg.

2025-09-19T23:56:36.510Z,1758326196.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760393
2025-09-19T23:56:36.511Z,1758326196.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555202 target range: 360.985657 and range: 361.90 m.
2025-09-19T23:56:36.767Z,1758326196.767 [DAT](INFO): DAT read: 23:56:36.9962 LVL= 20208, 24433, 25794, 26867, AGC= 71, IDX= 156,-0.44,-0.672,-2.204,-0.754,-1.319, PHS= 0.749,-0.840, 0.521, RAW= 142.4,  -5.8, CAL= 142.4,  -6.8, ROT=   7.6,   6.8

2025-09-19T23:56:36.768Z,1758326196.768 [DAT](INFO): got valid direction response:
 23:56:36.9962 LVL= 20208, 24433, 25794, 26867, AGC= 71, IDX= 156,-0.44,-0.672,-2.204,-0.754,-1.319, PHS= 0.749,-0.840, 0.521, RAW= 142.4,  -5.8, CAL= 142.4,  -6.8, ROT=   7.6,   6.8

2025-09-19T23:56:36.769Z,1758326196.769 [DAT](INFO): DAT read: Bearing  48.5,   6.9 (Local)

2025-09-19T23:56:36.769Z,1758326196.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.5,   6.9 (Local)

2025-09-19T23:56:36.771Z,1758326196.771 [DAT](INFO): DAT read: Range 11 to 50 : 359.7 m  (Round-trip  479.6 ms) speed  0.4 m/s

2025-09-19T23:56:36.771Z,1758326196.771 [DAT](INFO): DAT read: Tx time:23:56:38.0625

2025-09-19T23:56:36.772Z,1758326196.772 [DAT](INFO): Ping request sent.
2025-09-19T23:56:36.772Z,1758326196.772 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:56:36.773Z,1758326196.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:36.774Z,1758326196.774 [DAT](INFO): direction in FSK: [0.984243,0.131326,-0.118404]
2025-09-19T23:56:36.774Z,1758326196.774 [DAT](INFO): publishing transmit ping time
2025-09-19T23:56:36.774Z,1758326196.774 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:36.778Z,1758326196.778 [DAT](INFO): publishing transmit ping time
2025-09-19T23:56:36.778Z,1758326196.778 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:37.011Z,1758326197.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 359.700012 m,
      deltaT: 4.031419 s,
      deltaX: -2.199982 m,
      approachRate: -0.545709 m/s,
      rangeRepo size: 4

2025-09-19T23:56:37.021Z,1758326197.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 358.791321 m,
      bearing: 268.625293 deg,
      lat: 36.779641 deg,
      lon: -121.859897 deg,
      deltaT: 4.031419 s,
      deltaX: -2.194336 m,
      approachRate: -0.544309 m/s,
      posRepo size: 4

2025-09-19T23:56:37.022Z,1758326197.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:37.029Z,1758326197.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 353.346252 m,
      bearing: 270.984455 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017878 deg/s,
      cmd heading: 260.993850 deg,
      new cmd heading: 260.974828 deg.

2025-09-19T23:56:37.030Z,1758326197.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554870 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:37.387Z,1758326197.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:37.405Z,1758326197.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 353.118469 m,
      bearing: 270.976322 deg,
      approach rate: -0.605523 m/s,
      LOS rate: -0.021635 deg/s,
      cmd heading: 260.974835 deg,
      new cmd heading: 260.958558 deg.

2025-09-19T23:56:37.406Z,1758326197.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554586 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:37.808Z,1758326197.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:37.810Z,1758326197.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:37.813Z,1758326197.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 352.882751 m,
      bearing: 270.967575 deg,
      approach rate: -0.557027 m/s,
      LOS rate: -0.020685 deg/s,
      cmd heading: 260.958551 deg,
      new cmd heading: 260.941045 deg.

2025-09-19T23:56:37.814Z,1758326197.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554280 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:38.021Z,1758326198.021 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:56:38.021Z,1758326198.021 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:56:38.021Z,1758326198.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:38.274Z,1758326198.274 [DAT](INFO): DAT read: user:601>

2025-09-19T23:56:38.274Z,1758326198.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501977
2025-09-19T23:56:38.315Z,1758326198.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:38.318Z,1758326198.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 352.600677 m,
      bearing: 270.957107 deg,
      approach rate: -0.557969 m/s,
      LOS rate: -0.020722 deg/s,
      cmd heading: 260.941039 deg,
      new cmd heading: 260.920087 deg.

2025-09-19T23:56:38.319Z,1758326198.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553915 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:38.525Z,1758326198.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752398
2025-09-19T23:56:38.777Z,1758326198.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004741
2025-09-19T23:56:38.833Z,1758326198.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:38.835Z,1758326198.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 352.311951 m,
      bearing: 270.946256 deg,
      approach rate: -0.557967 m/s,
      LOS rate: -0.020987 deg/s,
      cmd heading: 260.920084 deg,
      new cmd heading: 260.898364 deg.

2025-09-19T23:56:38.845Z,1758326198.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553535 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:39.029Z,1758326199.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256485
2025-09-19T23:56:39.209Z,1758326199.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:39.212Z,1758326199.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 352.086029 m,
      bearing: 270.937787 deg,
      approach rate: -0.600231 m/s,
      LOS rate: -0.022516 deg/s,
      cmd heading: 260.898364 deg,
      new cmd heading: 260.881414 deg.

2025-09-19T23:56:39.213Z,1758326199.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553240 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:39.281Z,1758326199.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508687
2025-09-19T23:56:39.533Z,1758326199.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760470
2025-09-19T23:56:39.593Z,1758326199.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:39.595Z,1758326199.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 351.865540 m,
      bearing: 270.929528 deg,
      approach rate: -0.575248 m/s,
      LOS rate: -0.021560 deg/s,
      cmd heading: 260.881425 deg,
      new cmd heading: 260.864897 deg.

2025-09-19T23:56:39.597Z,1758326199.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552951 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:39.785Z,1758326199.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012499
2025-09-19T23:56:40.030Z,1758326200.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:40.033Z,1758326200.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:40.035Z,1758326200.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 351.607880 m,
      bearing: 270.919610 deg,
      approach rate: -0.585507 m/s,
      LOS rate: -0.022554 deg/s,
      cmd heading: 260.864896 deg,
      new cmd heading: 260.845045 deg.

2025-09-19T23:56:40.037Z,1758326200.037 [DAT](INFO): DAT read: Rx Time:23:56:40.9437

2025-09-19T23:56:40.037Z,1758326200.037 [DAT](INFO): Rx dataTimestamp_ set to:1758326200.037192
2025-09-19T23:56:40.038Z,1758326200.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265610
2025-09-19T23:56:40.039Z,1758326200.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552605 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:40.295Z,1758326200.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522245
2025-09-19T23:56:40.386Z,1758326200.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.79 m.
2025-09-19T23:56:40.389Z,1758326200.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.791321 m,
      nav range: 351.400391 m,
      bearing: 270.911640 deg,
      approach rate: -0.587343 m/s,
      LOS rate: -0.022574 deg/s,
      cmd heading: 260.845034 deg,
      new cmd heading: 260.829084 deg.

2025-09-19T23:56:40.390Z,1758326200.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552326 target range: 358.791321 and range: 359.70 m.
2025-09-19T23:56:40.558Z,1758326200.558 [DAT](INFO): DAT read: 23:56:40.9437 LVL= 24864, 29681, 31346, 32755, AGC= 70, IDX= 272, 0.44, 1.054,-0.855, 0.778, 0.672, PHS= 0.484,-1.483, 0.062, RAW= 138.2,  10.5, CAL= 137.8,  11.4, ROT=  12.2, -11.4

2025-09-19T23:56:40.559Z,1758326200.559 [DAT](INFO): got valid direction response:
 23:56:40.9437 LVL= 24864, 29681, 31346, 32755, AGC= 70, IDX= 272, 0.44, 1.054,-0.855, 0.778, 0.672, PHS= 0.484,-1.483, 0.062, RAW= 138.2,  10.5, CAL= 137.8,  11.4, ROT=  12.2, -11.4

2025-09-19T23:56:40.560Z,1758326200.560 [DAT](INFO): DAT read: Bearing  66.7,  10.6 (Local)

2025-09-19T23:56:40.560Z,1758326200.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.7,  10.6 (Local)

2025-09-19T23:56:40.562Z,1758326200.562 [DAT](INFO): DAT read: Range 11 to 50 : 357.8 m  (Round-trip  477.1 ms) speed  0.4 m/s

2025-09-19T23:56:40.563Z,1758326200.563 [DAT](INFO): DAT read: user:602>Tx time:23:56:42.0125

2025-09-19T23:56:40.563Z,1758326200.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:40.564Z,1758326200.564 [DAT](INFO): direction in FSK: [0.958133,0.207156,0.197657]
2025-09-19T23:56:40.564Z,1758326200.564 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:40.568Z,1758326200.568 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:56:40.568Z,1758326200.568 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:56:40.568Z,1758326200.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:40.797Z,1758326200.797 [DAT](INFO): DAT read: 

2025-09-19T23:56:40.797Z,1758326200.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024891
2025-09-19T23:56:40.873Z,1758326200.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 357.799988 m,
      deltaT: 3.785951 s,
      deltaX: -1.900024 m,
      approachRate: -0.501862 m/s,
      rangeRepo size: 4

2025-09-19T23:56:40.875Z,1758326200.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 356.898193 m,
      bearing: 273.324116 deg,
      lat: 36.779659 deg,
      lon: -121.859897 deg,
      deltaT: 3.785951 s,
      deltaX: -1.893127 m,
      approachRate: -0.500040 m/s,
      posRepo size: 4

2025-09-19T23:56:40.880Z,1758326200.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:40.883Z,1758326200.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 351.118164 m,
      bearing: 271.216907 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022574 deg/s,
      cmd heading: 260.829078 deg,
      new cmd heading: 260.807110 deg.

2025-09-19T23:56:40.883Z,1758326200.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551943 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:41.049Z,1758326201.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276824
2025-09-19T23:56:41.256Z,1758326201.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:41.259Z,1758326201.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 350.896027 m,
      bearing: 271.208030 deg,
      approach rate: -0.585353 m/s,
      LOS rate: -0.023405 deg/s,
      cmd heading: 260.807112 deg,
      new cmd heading: 260.789349 deg.

2025-09-19T23:56:41.265Z,1758326201.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551633 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:41.301Z,1758326201.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528649
2025-09-19T23:56:41.554Z,1758326201.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781277
2025-09-19T23:56:41.634Z,1758326201.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:41.640Z,1758326201.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 350.677307 m,
      bearing: 271.199344 deg,
      approach rate: -0.573152 m/s,
      LOS rate: -0.022776 deg/s,
      cmd heading: 260.789354 deg,
      new cmd heading: 260.771971 deg.

2025-09-19T23:56:41.641Z,1758326201.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551330 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:41.806Z,1758326201.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.033080
2025-09-19T23:56:42.057Z,1758326202.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284439
2025-09-19T23:56:42.078Z,1758326202.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:42.084Z,1758326202.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:42.087Z,1758326202.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 350.425049 m,
      bearing: 271.190952 deg,
      approach rate: -0.565239 m/s,
      LOS rate: -0.018819 deg/s,
      cmd heading: 260.771978 deg,
      new cmd heading: 260.755180 deg.

2025-09-19T23:56:42.088Z,1758326202.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551036 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:42.309Z,1758326202.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536435
2025-09-19T23:56:42.444Z,1758326202.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:42.447Z,1758326202.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 350.201111 m,
      bearing: 271.183504 deg,
      approach rate: -0.615333 m/s,
      LOS rate: -0.020479 deg/s,
      cmd heading: 260.755176 deg,
      new cmd heading: 260.740270 deg.

2025-09-19T23:56:42.448Z,1758326202.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550776 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:42.561Z,1758326202.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788467
2025-09-19T23:56:42.814Z,1758326202.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.041067
2025-09-19T23:56:42.939Z,1758326202.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:42.942Z,1758326202.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 349.917572 m,
      bearing: 271.174114 deg,
      approach rate: -0.572173 m/s,
      LOS rate: -0.018963 deg/s,
      cmd heading: 260.740259 deg,
      new cmd heading: 260.721464 deg.

2025-09-19T23:56:42.943Z,1758326202.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550448 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:43.065Z,1758326203.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292519
2025-09-19T23:56:43.318Z,1758326203.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545169
2025-09-19T23:56:43.436Z,1758326203.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:43.439Z,1758326203.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 349.632507 m,
      bearing: 271.164679 deg,
      approach rate: -0.573498 m/s,
      LOS rate: -0.018998 deg/s,
      cmd heading: 260.721462 deg,
      new cmd heading: 260.702575 deg.

2025-09-19T23:56:43.440Z,1758326203.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550118 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:43.569Z,1758326203.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797093
2025-09-19T23:56:43.821Z,1758326203.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048526
2025-09-19T23:56:43.881Z,1758326203.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:43.900Z,1758326203.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 349.376343 m,
      bearing: 271.157219 deg,
      approach rate: -0.575675 m/s,
      LOS rate: -0.016775 deg/s,
      cmd heading: 260.702583 deg,
      new cmd heading: 260.687654 deg.

2025-09-19T23:56:43.901Z,1758326203.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549858 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:44.073Z,1758326204.073 [DAT](INFO): DAT read: Rx Time:23:56:44.8915

2025-09-19T23:56:44.074Z,1758326204.074 [DAT](INFO): Rx dataTimestamp_ set to:1758326204.073348
2025-09-19T23:56:44.074Z,1758326204.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301781
2025-09-19T23:56:44.262Z,1758326204.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:44.269Z,1758326204.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-09-19T23:56:44.271Z,1758326204.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.898193 m,
      nav range: 349.160736 m,
      bearing: 271.150950 deg,
      approach rate: -0.556272 m/s,
      LOS rate: -0.016186 deg/s,
      cmd heading: 260.687666 deg,
      new cmd heading: 260.675119 deg.

2025-09-19T23:56:44.277Z,1758326204.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549639 target range: 356.898193 and range: 357.80 m.
2025-09-19T23:56:44.325Z,1758326204.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552686
2025-09-19T23:56:44.582Z,1758326204.582 [DAT](INFO): DAT read: 23:56:44.8915 LVL= 29808, 26529, 32754, 32755, AGC= 73, IDX= 255, 0.29, 3.099, 1.009, 2.813, 2.665, PHS= 0.536,-1.611, 0.104, RAW= 139.0,   9.9, CAL= 138.6,  10.9, ROT=  11.4, -10.9

2025-09-19T23:56:44.584Z,1758326204.584 [DAT](INFO): got valid direction response:
 23:56:44.8915 LVL= 29808, 26529, 32754, 32755, AGC= 73, IDX= 255, 0.29, 3.099, 1.009, 2.813, 2.665, PHS= 0.536,-1.611, 0.104, RAW= 139.0,   9.9, CAL= 138.6,  10.9, ROT=  11.4, -10.9

2025-09-19T23:56:44.585Z,1758326204.585 [DAT](INFO): DAT read: Bearing  65.5,   9.6 (Local)

2025-09-19T23:56:44.585Z,1758326204.585 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.5,   9.6 (Local)

2025-09-19T23:56:44.586Z,1758326204.586 [DAT](INFO): DAT read: Range 11 to 50 : 356.1 m  (Round-trip  474.9 ms) speed  0.0 m/s

2025-09-19T23:56:44.587Z,1758326204.587 [DAT](INFO): DAT read: user:603>Tx time:23:56:45.9625

2025-09-19T23:56:44.588Z,1758326204.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:56:44.589Z,1758326204.589 [DAT](INFO): direction in FSK: [0.962586,0.194091,0.189095]
2025-09-19T23:56:44.589Z,1758326204.589 [DAT](INFO): publishing direction and range info
2025-09-19T23:56:44.593Z,1758326204.593 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:56:44.593Z,1758326204.593 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:56:44.593Z,1758326204.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:44.805Z,1758326204.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 356.100006 m,
      deltaT: 4.029940 s,
      deltaX: -1.699982 m,
      approachRate: -0.421838 m/s,
      rangeRepo size: 4

2025-09-19T23:56:44.807Z,1758326204.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 355.200439 m,
      bearing: 272.346990 deg,
      lat: 36.779695 deg,
      lon: -121.859914 deg,
      deltaT: 4.029940 s,
      deltaX: -1.697754 m,
      approachRate: -0.421285 m/s,
      posRepo size: 4

2025-09-19T23:56:44.812Z,1758326204.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:44.815Z,1758326204.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 350.522003 m,
      bearing: 271.794763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016186 deg/s,
      cmd heading: 260.675126 deg,
      new cmd heading: 260.657950 deg.

2025-09-19T23:56:44.822Z,1758326204.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549339 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:44.829Z,1758326204.829 [DAT](INFO): DAT read: 

2025-09-19T23:56:44.829Z,1758326204.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056992
2025-09-19T23:56:45.081Z,1758326205.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308584
2025-09-19T23:56:45.138Z,1758326205.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:45.145Z,1758326205.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 350.297272 m,
      bearing: 271.788648 deg,
      approach rate: -0.663588 m/s,
      LOS rate: -0.018069 deg/s,
      cmd heading: 260.657941 deg,
      new cmd heading: 260.645703 deg.

2025-09-19T23:56:45.146Z,1758326205.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549126 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:45.333Z,1758326205.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560392
2025-09-19T23:56:45.523Z,1758326205.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:45.526Z,1758326205.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 350.064728 m,
      bearing: 271.782312 deg,
      approach rate: -0.604788 m/s,
      LOS rate: -0.016490 deg/s,
      cmd heading: 260.645701 deg,
      new cmd heading: 260.633021 deg.

2025-09-19T23:56:45.527Z,1758326205.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548904 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:45.585Z,1758326205.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812974
2025-09-19T23:56:45.837Z,1758326205.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064516
2025-09-19T23:56:45.948Z,1758326205.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:45.950Z,1758326205.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 349.829926 m,
      bearing: 271.776081 deg,
      approach rate: -0.557856 m/s,
      LOS rate: -0.014812 deg/s,
      cmd heading: 260.633025 deg,
      new cmd heading: 260.620555 deg.

2025-09-19T23:56:45.951Z,1758326205.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548687 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:46.090Z,1758326206.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317467
2025-09-19T23:56:46.323Z,1758326206.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:46.325Z,1758326206.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:46.328Z,1758326206.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 349.607483 m,
      bearing: 271.770198 deg,
      approach rate: -0.582480 m/s,
      LOS rate: -0.015417 deg/s,
      cmd heading: 260.620566 deg,
      new cmd heading: 260.608791 deg.

2025-09-19T23:56:46.329Z,1758326206.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548481 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:46.341Z,1758326206.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568579
2025-09-19T23:56:46.593Z,1758326206.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820598
2025-09-19T23:56:46.710Z,1758326206.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:46.713Z,1758326206.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 349.388184 m,
      bearing: 271.764393 deg,
      approach rate: -0.569774 m/s,
      LOS rate: -0.015090 deg/s,
      cmd heading: 260.608791 deg,
      new cmd heading: 260.597175 deg.

2025-09-19T23:56:46.714Z,1758326206.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548279 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:46.845Z,1758326206.845 [DAT](INFO): Reached modem response timeout
2025-09-19T23:56:46.845Z,1758326206.845 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:46.846Z,1758326206.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:47.101Z,1758326207.101 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:47.135Z,1758326207.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:47.138Z,1758326207.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 349.139862 m,
      bearing: 271.757886 deg,
      approach rate: -0.584102 m/s,
      LOS rate: -0.015318 deg/s,
      cmd heading: 260.597180 deg,
      new cmd heading: 260.584155 deg.

2025-09-19T23:56:47.139Z,1758326207.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548051 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:47.349Z,1758326207.349 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:47.524Z,1758326207.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:47.526Z,1758326207.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 348.913666 m,
      bearing: 271.751986 deg,
      approach rate: -0.582743 m/s,
      LOS rate: -0.015210 deg/s,
      cmd heading: 260.584148 deg,
      new cmd heading: 260.572340 deg.

2025-09-19T23:56:47.527Z,1758326207.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547845 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:47.601Z,1758326207.601 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:47.853Z,1758326207.853 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:47.997Z,1758326207.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:48.000Z,1758326208.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 348.639984 m,
      bearing: 271.744927 deg,
      approach rate: -0.577799 m/s,
      LOS rate: -0.014913 deg/s,
      cmd heading: 260.572345 deg,
      new cmd heading: 260.558217 deg.

2025-09-19T23:56:48.001Z,1758326208.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547599 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:48.111Z,1758326208.111 [DAT](INFO): DAT read: 23:56:48.8386 LVL= 22112, 23857, 24658, 23507, AGC= 70, IDX= 413, 0.39,-2.840, 1.833,-2.925, 2.829, PHS= 0.717,-0.950, 0.485, RAW= 142.6,  -3.3, CAL= 142.5,  -3.7, ROT=   7.5,   3.7

2025-09-19T23:56:48.112Z,1758326208.112 [DAT](INFO): got valid direction response:
 23:56:48.8386 LVL= 22112, 23857, 24658, 23507, AGC= 70, IDX= 413, 0.39,-2.840, 1.833,-2.925, 2.829, PHS= 0.717,-0.950, 0.485, RAW= 142.6,  -3.3, CAL= 142.5,  -3.7, ROT=   7.5,   3.7

2025-09-19T23:56:48.113Z,1758326208.113 [DAT](INFO): DAT read: Rx Time:23:56:48.8386

2025-09-19T23:56:48.113Z,1758326208.113 [DAT](INFO): Rx dataTimestamp_ set to:1758326208.112726
2025-09-19T23:56:48.114Z,1758326208.114 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-19T23:56:48.114Z,1758326208.114 [DAT](INFO): Received low SNR in chirp
2025-09-19T23:56:48.128Z,1758326208.128 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-19T23:56:48.129Z,1758326208.129 [DAT](INFO): direction in FSK: [0.989378,0.130254,-0.064532]
2025-09-19T23:56:48.132Z,1758326208.132 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:48.357Z,1758326208.357 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:48.366Z,1758326208.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:48.373Z,1758326208.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:48.375Z,1758326208.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 348.431274 m,
      bearing: 271.739548 deg,
      approach rate: -0.555929 m/s,
      LOS rate: -0.014336 deg/s,
      cmd heading: 260.558220 deg,
      new cmd heading: 260.547456 deg.

2025-09-19T23:56:48.381Z,1758326208.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547411 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:48.610Z,1758326208.610 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:48.861Z,1758326208.861 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:48.923Z,1758326208.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:48.930Z,1758326208.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 348.107971 m,
      bearing: 271.730243 deg,
      approach rate: -0.587625 m/s,
      LOS rate: -0.016928 deg/s,
      cmd heading: 260.547456 deg,
      new cmd heading: 260.528829 deg.

2025-09-19T23:56:48.931Z,1758326208.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547086 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:49.116Z,1758326209.116 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:49.366Z,1758326209.366 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:49.434Z,1758326209.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:49.437Z,1758326209.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 347.796631 m,
      bearing: 271.721279 deg,
      approach rate: -0.608594 m/s,
      LOS rate: -0.017539 deg/s,
      cmd heading: 260.528823 deg,
      new cmd heading: 260.510878 deg.

2025-09-19T23:56:49.438Z,1758326209.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546772 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:49.617Z,1758326209.617 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:49.869Z,1758326209.869 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:49.910Z,1758326209.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:49.913Z,1758326209.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 347.518341 m,
      bearing: 271.713238 deg,
      approach rate: -0.584975 m/s,
      LOS rate: -0.016914 deg/s,
      cmd heading: 260.510874 deg,
      new cmd heading: 260.494780 deg.

2025-09-19T23:56:49.914Z,1758326209.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546492 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:50.121Z,1758326210.121 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:50.246Z,1758326210.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:50.249Z,1758326210.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 347.317047 m,
      bearing: 271.707441 deg,
      approach rate: -0.600193 m/s,
      LOS rate: -0.017297 deg/s,
      cmd heading: 260.494782 deg,
      new cmd heading: 260.483180 deg.

2025-09-19T23:56:50.249Z,1758326210.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546289 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:50.373Z,1758326210.373 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:50.625Z,1758326210.625 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:50.640Z,1758326210.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:50.642Z,1758326210.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:50.661Z,1758326210.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 347.082642 m,
      bearing: 271.700715 deg,
      approach rate: -0.591056 m/s,
      LOS rate: -0.016971 deg/s,
      cmd heading: 260.483170 deg,
      new cmd heading: 260.469710 deg.

2025-09-19T23:56:50.662Z,1758326210.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546054 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:50.879Z,1758326210.879 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:51.069Z,1758326211.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:51.071Z,1758326211.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 346.826141 m,
      bearing: 271.692941 deg,
      approach rate: -0.602698 m/s,
      LOS rate: -0.018281 deg/s,
      cmd heading: 260.469701 deg,
      new cmd heading: 260.454141 deg.

2025-09-19T23:56:51.073Z,1758326211.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545782 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:51.130Z,1758326211.130 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:51.381Z,1758326211.381 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:51.452Z,1758326211.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:51.457Z,1758326211.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 346.596771 m,
      bearing: 271.686013 deg,
      approach rate: -0.598023 m/s,
      LOS rate: -0.018073 deg/s,
      cmd heading: 260.454128 deg,
      new cmd heading: 260.440264 deg.

2025-09-19T23:56:51.459Z,1758326211.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545540 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:51.633Z,1758326211.633 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:51.885Z,1758326211.885 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:51.954Z,1758326211.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:51.959Z,1758326211.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 346.298431 m,
      bearing: 271.676266 deg,
      approach rate: -0.593750 m/s,
      LOS rate: -0.019416 deg/s,
      cmd heading: 260.440277 deg,
      new cmd heading: 260.420765 deg.

2025-09-19T23:56:51.961Z,1758326211.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545200 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:52.137Z,1758326212.137 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:52.297Z,1758326212.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:52.299Z,1758326212.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 346.091156 m,
      bearing: 271.669518 deg,
      approach rate: -0.604721 m/s,
      LOS rate: -0.019698 deg/s,
      cmd heading: 260.420770 deg,
      new cmd heading: 260.407266 deg.

2025-09-19T23:56:52.300Z,1758326212.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544964 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:52.389Z,1758326212.389 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:52.641Z,1758326212.641 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:52.776Z,1758326212.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:52.778Z,1758326212.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:52.781Z,1758326212.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 345.804443 m,
      bearing: 271.660185 deg,
      approach rate: -0.595556 m/s,
      LOS rate: -0.019403 deg/s,
      cmd heading: 260.407273 deg,
      new cmd heading: 260.388591 deg.

2025-09-19T23:56:52.782Z,1758326212.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544638 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:52.895Z,1758326212.895 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:53.146Z,1758326213.146 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:53.172Z,1758326213.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:53.174Z,1758326213.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 345.577972 m,
      bearing: 271.653469 deg,
      approach rate: -0.581173 m/s,
      LOS rate: -0.017245 deg/s,
      cmd heading: 260.388586 deg,
      new cmd heading: 260.375145 deg.

2025-09-19T23:56:53.175Z,1758326213.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544404 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:53.397Z,1758326213.397 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:53.533Z,1758326213.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:53.536Z,1758326213.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 345.361084 m,
      bearing: 271.647038 deg,
      approach rate: -0.593321 m/s,
      LOS rate: -0.017603 deg/s,
      cmd heading: 260.375144 deg,
      new cmd heading: 260.362274 deg.

2025-09-19T23:56:53.537Z,1758326213.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544179 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:53.649Z,1758326213.649 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:53.905Z,1758326213.905 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:54.000Z,1758326214.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:54.003Z,1758326214.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 345.093964 m,
      bearing: 271.638989 deg,
      approach rate: -0.572175 m/s,
      LOS rate: -0.017254 deg/s,
      cmd heading: 260.362276 deg,
      new cmd heading: 260.346166 deg.

2025-09-19T23:56:54.004Z,1758326214.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543898 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:54.153Z,1758326214.153 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:54.361Z,1758326214.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:54.364Z,1758326214.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 344.887421 m,
      bearing: 271.632743 deg,
      approach rate: -0.572110 m/s,
      LOS rate: -0.017313 deg/s,
      cmd heading: 260.346157 deg,
      new cmd heading: 260.333656 deg.

2025-09-19T23:56:54.365Z,1758326214.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543679 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:54.405Z,1758326214.405 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:54.657Z,1758326214.657 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:54.765Z,1758326214.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:54.767Z,1758326214.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 344.656799 m,
      bearing: 271.625764 deg,
      approach rate: -0.571085 m/s,
      LOS rate: -0.017292 deg/s,
      cmd heading: 260.333644 deg,
      new cmd heading: 260.319677 deg.

2025-09-19T23:56:54.769Z,1758326214.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543436 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:54.911Z,1758326214.911 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:55.161Z,1758326215.161 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:55.176Z,1758326215.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:55.178Z,1758326215.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:55.181Z,1758326215.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 344.426758 m,
      bearing: 271.618663 deg,
      approach rate: -0.556937 m/s,
      LOS rate: -0.017205 deg/s,
      cmd heading: 260.319683 deg,
      new cmd heading: 260.305470 deg.

2025-09-19T23:56:55.182Z,1758326215.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543188 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:55.413Z,1758326215.413 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:55.618Z,1758326215.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:55.621Z,1758326215.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 344.181641 m,
      bearing: 271.611095 deg,
      approach rate: -0.557301 m/s,
      LOS rate: -0.017218 deg/s,
      cmd heading: 260.305476 deg,
      new cmd heading: 260.290330 deg.

2025-09-19T23:56:55.622Z,1758326215.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542923 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:55.665Z,1758326215.665 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:55.918Z,1758326215.918 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:56.058Z,1758326216.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:56.061Z,1758326216.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 343.947052 m,
      bearing: 271.603853 deg,
      approach rate: -0.533161 m/s,
      LOS rate: -0.016471 deg/s,
      cmd heading: 260.290340 deg,
      new cmd heading: 260.275846 deg.

2025-09-19T23:56:56.062Z,1758326216.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542670 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:56.169Z,1758326216.169 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:56.421Z,1758326216.421 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:56.475Z,1758326216.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:56.477Z,1758326216.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 343.725983 m,
      bearing: 271.597036 deg,
      approach rate: -0.530303 m/s,
      LOS rate: -0.016363 deg/s,
      cmd heading: 260.275833 deg,
      new cmd heading: 260.262190 deg.

2025-09-19T23:56:56.478Z,1758326216.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542432 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:56.673Z,1758326216.673 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:56.862Z,1758326216.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:56.865Z,1758326216.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 343.518463 m,
      bearing: 271.590632 deg,
      approach rate: -0.535742 m/s,
      LOS rate: -0.016542 deg/s,
      cmd heading: 260.262200 deg,
      new cmd heading: 260.249385 deg.

2025-09-19T23:56:56.866Z,1758326216.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542209 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:56.928Z,1758326216.928 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:56:56.929Z,1758326216.929 [DAT](INFO): response not received
2025-09-19T23:56:56.931Z,1758326216.931 [DAT](INFO): DAT read: user:605>Tx time:23:56:58.4125

2025-09-19T23:56:56.933Z,1758326216.933 [DAT](ERROR): No response from remote modem.
2025-09-19T23:56:56.934Z,1758326216.934 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:56.935Z,1758326216.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:56:57.177Z,1758326217.177 [DAT](INFO): DAT read: 

2025-09-19T23:56:57.177Z,1758326217.177 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:57.282Z,1758326217.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:57.284Z,1758326217.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:57.287Z,1758326217.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 343.286530 m,
      bearing: 271.583485 deg,
      approach rate: -0.549481 m/s,
      LOS rate: -0.016944 deg/s,
      cmd heading: 260.249387 deg,
      new cmd heading: 260.235083 deg.

2025-09-19T23:56:57.304Z,1758326217.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541959 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:57.429Z,1758326217.429 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:57.674Z,1758326217.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:57.677Z,1758326217.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 343.071838 m,
      bearing: 271.576875 deg,
      approach rate: -0.549973 m/s,
      LOS rate: -0.016944 deg/s,
      cmd heading: 260.235070 deg,
      new cmd heading: 260.221842 deg.

2025-09-19T23:56:57.678Z,1758326217.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541728 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:57.681Z,1758326217.681 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:57.936Z,1758326217.936 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:58.110Z,1758326218.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:58.113Z,1758326218.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 342.830322 m,
      bearing: 271.569884 deg,
      approach rate: -0.554109 m/s,
      LOS rate: -0.016050 deg/s,
      cmd heading: 260.221847 deg,
      new cmd heading: 260.207856 deg.

2025-09-19T23:56:58.114Z,1758326218.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541484 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:58.185Z,1758326218.185 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:58.438Z,1758326218.438 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:58.486Z,1758326218.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:58.489Z,1758326218.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 342.621826 m,
      bearing: 271.563845 deg,
      approach rate: -0.554843 m/s,
      LOS rate: -0.016080 deg/s,
      cmd heading: 260.207859 deg,
      new cmd heading: 260.195774 deg.

2025-09-19T23:56:58.490Z,1758326218.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541273 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:58.689Z,1758326218.689 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:58.876Z,1758326218.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:58.878Z,1758326218.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 342.405823 m,
      bearing: 271.557571 deg,
      approach rate: -0.554445 m/s,
      LOS rate: -0.016114 deg/s,
      cmd heading: 260.195783 deg,
      new cmd heading: 260.183227 deg.

2025-09-19T23:56:58.879Z,1758326218.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541054 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:58.945Z,1758326218.945 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:59.193Z,1758326219.193 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:59.322Z,1758326219.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:56:59.324Z,1758326219.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:59.327Z,1758326219.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 342.140747 m,
      bearing: 271.549639 deg,
      approach rate: -0.591480 m/s,
      LOS rate: -0.017714 deg/s,
      cmd heading: 260.183216 deg,
      new cmd heading: 260.167339 deg.

2025-09-19T23:56:59.344Z,1758326219.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540777 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:59.446Z,1758326219.446 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:59.685Z,1758326219.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:56:59.687Z,1758326219.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 341.926636 m,
      bearing: 271.543240 deg,
      approach rate: -0.593266 m/s,
      LOS rate: -0.017743 deg/s,
      cmd heading: 260.167342 deg,
      new cmd heading: 260.154535 deg.

2025-09-19T23:56:59.689Z,1758326219.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540553 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:56:59.697Z,1758326219.697 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:56:59.951Z,1758326219.951 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:00.120Z,1758326220.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:57:00.123Z,1758326220.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 341.671173 m,
      bearing: 271.534921 deg,
      approach rate: -0.586704 m/s,
      LOS rate: -0.019118 deg/s,
      cmd heading: 260.154529 deg,
      new cmd heading: 260.137880 deg.

2025-09-19T23:57:00.124Z,1758326220.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540263 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:57:00.201Z,1758326220.201 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:00.454Z,1758326220.454 [DAT](INFO): DAT read: Rx Time:23:57:01.2795

2025-09-19T23:57:00.455Z,1758326220.455 [DAT](INFO): Rx dataTimestamp_ set to:1758326220.454129
2025-09-19T23:57:00.456Z,1758326220.456 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:00.502Z,1758326220.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:57:00.505Z,1758326220.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 341.446960 m,
      bearing: 271.527629 deg,
      approach rate: -0.586904 m/s,
      LOS rate: -0.019103 deg/s,
      cmd heading: 260.137891 deg,
      new cmd heading: 260.123295 deg.

2025-09-19T23:57:00.506Z,1758326220.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540008 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:57:00.705Z,1758326220.705 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:00.944Z,1758326220.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-09-19T23:57:00.954Z,1758326220.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.200439 m,
      nav range: 341.206635 m,
      bearing: 271.519822 deg,
      approach rate: -0.549315 m/s,
      LOS rate: -0.017856 deg/s,
      cmd heading: 260.123301 deg,
      new cmd heading: 260.107677 deg.

2025-09-19T23:57:00.970Z,1758326220.970 [DAT](INFO): DAT read: 23:57:01.2795 LVL= 22192, 30865, 29026, 32755, AGC= 69, IDX= 201,-0.10,-1.993, 2.390,-2.158,-2.381, PHS= 0.490,-1.467, 0.180, RAW= 141.5,   8.8, CAL= 141.1,   9.6, ROT=   8.9,  -9.6

2025-09-19T23:57:00.974Z,1758326220.974 [DAT](INFO): got valid direction response:
 23:57:01.2795 LVL= 22192, 30865, 29026, 32755, AGC= 69, IDX= 201,-0.10,-1.993, 2.390,-2.158,-2.381, PHS= 0.490,-1.467, 0.180, RAW= 141.5,   8.8, CAL= 141.1,   9.6, ROT=   8.9,  -9.6

2025-09-19T23:57:00.991Z,1758326220.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539735 target range: 355.200439 and range: 356.10 m.
2025-09-19T23:57:00.997Z,1758326220.997 [DAT](INFO): DAT read: Bearing  59.8,  10.0 (Local)

2025-09-19T23:57:00.998Z,1758326220.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.8,  10.0 (Local)

2025-09-19T23:57:01.011Z,1758326221.011 [DAT](INFO): DAT read: Range 11 to 50 : 347.1 m  (Round-trip  462.9 ms) speed  0.4 m/s

2025-09-19T23:57:01.033Z,1758326221.033 [DAT](INFO): DAT read: user:606>Tx time:23:57:02.3625

2025-09-19T23:57:01.033Z,1758326221.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:01.034Z,1758326221.034 [DAT](INFO): direction in FSK: [0.974125,0.152544,0.166769]
2025-09-19T23:57:01.034Z,1758326221.034 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:01.046Z,1758326221.046 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:01.046Z,1758326221.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:01.209Z,1758326221.209 [DAT](INFO): DAT read: 

2025-09-19T23:57:01.210Z,1758326221.210 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:01.461Z,1758326221.461 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:01.542Z,1758326221.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 347.100006 m,
      deltaT: 16.380262 s,
      deltaX: -9.000000 m,
      approachRate: -0.549442 m/s,
      rangeRepo size: 4

2025-09-19T23:57:01.544Z,1758326221.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 346.218292 m,
      bearing: 269.122943 deg,
      lat: 36.779568 deg,
      lon: -121.859914 deg,
      deltaT: 16.380262 s,
      deltaX: -8.982147 m,
      approachRate: -0.548352 m/s,
      posRepo size: 4

2025-09-19T23:57:01.545Z,1758326221.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:01.547Z,1758326221.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 340.749481 m,
      bearing: 269.126189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017856 deg/s,
      cmd heading: 260.107674 deg,
      new cmd heading: 260.086198 deg.

2025-09-19T23:57:01.548Z,1758326221.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539361 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:01.713Z,1758326221.713 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:01.900Z,1758326221.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:01.902Z,1758326221.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:01.928Z,1758326221.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 340.530029 m,
      bearing: 269.117898 deg,
      approach rate: -0.608198 m/s,
      LOS rate: -0.022993 deg/s,
      cmd heading: 260.086200 deg,
      new cmd heading: 260.069607 deg.

2025-09-19T23:57:01.931Z,1758326221.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539071 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:01.967Z,1758326221.967 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:02.217Z,1758326222.217 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:02.469Z,1758326222.469 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:02.482Z,1758326222.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:02.489Z,1758326222.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 340.188629 m,
      bearing: 269.104280 deg,
      approach rate: -0.588670 m/s,
      LOS rate: -0.023505 deg/s,
      cmd heading: 260.069616 deg,
      new cmd heading: 260.042353 deg.

2025-09-19T23:57:02.490Z,1758326222.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538595 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:02.722Z,1758326222.722 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:02.820Z,1758326222.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:02.823Z,1758326222.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 339.985809 m,
      bearing: 269.096191 deg,
      approach rate: -0.599519 m/s,
      LOS rate: -0.023925 deg/s,
      cmd heading: 260.042350 deg,
      new cmd heading: 260.026162 deg.

2025-09-19T23:57:02.841Z,1758326222.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538312 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:02.973Z,1758326222.973 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:03.225Z,1758326223.225 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:03.246Z,1758326223.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:03.249Z,1758326223.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 339.732056 m,
      bearing: 269.086842 deg,
      approach rate: -0.596495 m/s,
      LOS rate: -0.021992 deg/s,
      cmd heading: 260.026149 deg,
      new cmd heading: 260.007437 deg.

2025-09-19T23:57:03.250Z,1758326223.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537986 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:03.480Z,1758326223.480 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:03.643Z,1758326223.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:03.646Z,1758326223.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 339.494598 m,
      bearing: 269.078103 deg,
      approach rate: -0.596769 m/s,
      LOS rate: -0.021979 deg/s,
      cmd heading: 260.007434 deg,
      new cmd heading: 259.989943 deg.

2025-09-19T23:57:03.647Z,1758326223.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537681 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:03.730Z,1758326223.730 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:03.983Z,1758326223.983 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:04.102Z,1758326224.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:04.120Z,1758326224.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:04.123Z,1758326224.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 339.220459 m,
      bearing: 269.068325 deg,
      approach rate: -0.595032 m/s,
      LOS rate: -0.021239 deg/s,
      cmd heading: 259.989949 deg,
      new cmd heading: 259.970378 deg.

2025-09-19T23:57:04.124Z,1758326224.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537339 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:04.233Z,1758326224.233 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:04.485Z,1758326224.485 [DAT](INFO): DAT read: Rx Time:23:57:05.2267

2025-09-19T23:57:04.485Z,1758326224.485 [DAT](INFO): Rx dataTimestamp_ set to:1758326224.485157
2025-09-19T23:57:04.486Z,1758326224.486 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:04.492Z,1758326224.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:04.498Z,1758326224.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 339.000732 m,
      bearing: 269.060494 deg,
      approach rate: -0.567169 m/s,
      LOS rate: -0.020229 deg/s,
      cmd heading: 259.970387 deg,
      new cmd heading: 259.954713 deg.

2025-09-19T23:57:04.499Z,1758326224.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537066 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:04.737Z,1758326224.737 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:04.865Z,1758326224.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.22 m.
2025-09-19T23:57:04.868Z,1758326224.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.218292 m,
      nav range: 338.765869 m,
      bearing: 269.052116 deg,
      approach rate: -0.628264 m/s,
      LOS rate: -0.022427 deg/s,
      cmd heading: 259.954705 deg,
      new cmd heading: 259.937937 deg.

2025-09-19T23:57:04.869Z,1758326224.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536773 target range: 346.218292 and range: 347.10 m.
2025-09-19T23:57:04.994Z,1758326224.994 [DAT](INFO): DAT read: 23:57:05.2267 LVL= 25072, 32753, 29042, 32755, AGC= 68, IDX= 419, 0.37,-1.088,-2.598,-1.143,-1.833, PHS= 0.847,-0.721, 0.646, RAW= 143.2, -10.5, CAL= 143.5, -12.4, ROT=   6.5,  12.4

2025-09-19T23:57:04.996Z,1758326224.996 [DAT](INFO): got valid direction response:
 23:57:05.2267 LVL= 25072, 32753, 29042, 32755, AGC= 68, IDX= 419, 0.37,-1.088,-2.598,-1.143,-1.833, PHS= 0.847,-0.721, 0.646, RAW= 143.2, -10.5, CAL= 143.5, -12.4, ROT=   6.5,  12.4

2025-09-19T23:57:04.997Z,1758326224.997 [DAT](INFO): DAT read: Bearing  37.0,   9.5 (Local)

2025-09-19T23:57:04.997Z,1758326224.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.0,   9.5 (Local)

2025-09-19T23:57:04.998Z,1758326224.998 [DAT](INFO): DAT read: Range 11 to 50 : 345.0 m  (Round-trip  460.1 ms) speed  0.2 m/s

2025-09-19T23:57:04.999Z,1758326224.999 [DAT](INFO): DAT read: user:607>Tx time:23:57:06.3125

2025-09-19T23:57:04.000Z,1758326225.000 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:05.001Z,1758326225.001 [DAT](INFO): direction in FSK: [0.970394,0.110562,-0.214735]
2025-09-19T23:57:05.001Z,1758326225.001 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:05.004Z,1758326225.004 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:05.005Z,1758326225.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:05.241Z,1758326225.241 [DAT](INFO): DAT read: 

2025-09-19T23:57:05.241Z,1758326225.241 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:05.323Z,1758326225.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 345.000000 m,
      deltaT: 4.031708 s,
      deltaX: -2.100006 m,
      approachRate: -0.520873 m/s,
      rangeRepo size: 4

2025-09-19T23:57:05.329Z,1758326225.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 344.121704 m,
      bearing: 265.832304 deg,
      lat: 36.779568 deg,
      lon: -121.859914 deg,
      deltaT: 4.031708 s,
      deltaX: -2.096588 m,
      approachRate: -0.520025 m/s,
      posRepo size: 4

2025-09-19T23:57:05.330Z,1758326225.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:05.336Z,1758326225.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 338.510437 m,
      bearing: 269.043731 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022427 deg/s,
      cmd heading: 259.937930 deg,
      new cmd heading: 259.917451 deg.

2025-09-19T23:57:05.337Z,1758326225.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536415 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:05.493Z,1758326225.493 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:05.668Z,1758326225.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:05.671Z,1758326225.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 338.296783 m,
      bearing: 269.036700 deg,
      approach rate: -0.617435 m/s,
      LOS rate: -0.020330 deg/s,
      cmd heading: 259.917439 deg,
      new cmd heading: 259.903370 deg.

2025-09-19T23:57:05.672Z,1758326225.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536170 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:05.745Z,1758326225.745 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:05.997Z,1758326225.997 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:06.033Z,1758326226.033 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:57:06.132Z,1758326226.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:06.134Z,1758326226.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:06.137Z,1758326226.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 338.025787 m,
      bearing: 269.027823 deg,
      approach rate: -0.581462 m/s,
      LOS rate: -0.019064 deg/s,
      cmd heading: 259.903369 deg,
      new cmd heading: 259.885599 deg.

2025-09-19T23:57:06.138Z,1758326226.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535860 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:06.249Z,1758326226.249 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:06.483Z,1758326226.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:06.501Z,1758326226.501 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:06.503Z,1758326226.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 337.822754 m,
      bearing: 269.021152 deg,
      approach rate: -0.581293 m/s,
      LOS rate: -0.019111 deg/s,
      cmd heading: 259.885611 deg,
      new cmd heading: 259.872261 deg.

2025-09-19T23:57:06.509Z,1758326226.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535626 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:06.753Z,1758326226.753 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:06.964Z,1758326226.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:06.967Z,1758326226.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 337.545441 m,
      bearing: 269.012011 deg,
      approach rate: -0.577177 m/s,
      LOS rate: -0.019039 deg/s,
      cmd heading: 259.872251 deg,
      new cmd heading: 259.853955 deg.

2025-09-19T23:57:06.968Z,1758326226.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535307 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:07.005Z,1758326227.005 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:07.037Z,1758326227.037 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:57:07.257Z,1758326227.257 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:07.379Z,1758326227.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:07.382Z,1758326227.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 337.310974 m,
      bearing: 269.003345 deg,
      approach rate: -0.564612 m/s,
      LOS rate: -0.020884 deg/s,
      cmd heading: 259.853946 deg,
      new cmd heading: 259.836601 deg.

2025-09-19T23:57:07.383Z,1758326227.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535004 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:07.509Z,1758326227.509 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:07.761Z,1758326227.761 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:07.783Z,1758326227.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:07.786Z,1758326227.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 337.090698 m,
      bearing: 268.995169 deg,
      approach rate: -0.545384 m/s,
      LOS rate: -0.020255 deg/s,
      cmd heading: 259.836597 deg,
      new cmd heading: 259.820236 deg.

2025-09-19T23:57:07.787Z,1758326227.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534719 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:08.013Z,1758326228.013 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:08.194Z,1758326228.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:08.197Z,1758326228.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:08.199Z,1758326228.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 336.847595 m,
      bearing: 268.986549 deg,
      approach rate: -0.587813 m/s,
      LOS rate: -0.020860 deg/s,
      cmd heading: 259.820232 deg,
      new cmd heading: 259.802978 deg.

2025-09-19T23:57:08.200Z,1758326228.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534417 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:08.273Z,1758326228.273 [DAT](INFO): DAT read: 23:57:09.1736 LVL= 27728, 30449, 32754, 32755, AGC= 68, IDX= 405,-0.47,-2.141, 2.611,-2.133,-2.921, PHS= 0.881,-0.706, 0.744, RAW= 145.5, -12.0, CAL= 146.2, -14.2, ROT=   3.8,  14.2

2025-09-19T23:57:08.274Z,1758326228.274 [DAT](INFO): got valid direction response:
 23:57:09.1736 LVL= 27728, 30449, 32754, 32755, AGC= 68, IDX= 405,-0.47,-2.141, 2.611,-2.133,-2.921, PHS= 0.881,-0.706, 0.744, RAW= 145.5, -12.0, CAL= 146.2, -14.2, ROT=   3.8,  14.2

2025-09-19T23:57:08.275Z,1758326228.275 [DAT](INFO): DAT read: Rx Time:23:57:09.1736

2025-09-19T23:57:08.276Z,1758326228.276 [DAT](INFO): Rx dataTimestamp_ set to:1758326228.275381
2025-09-19T23:57:08.277Z,1758326228.277 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-19T23:57:08.277Z,1758326228.277 [DAT](INFO): Received low SNR in chirp
2025-09-19T23:57:08.289Z,1758326228.289 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-19T23:57:08.290Z,1758326228.290 [DAT](INFO): direction in FSK: [0.967314,0.064249,-0.245307]
2025-09-19T23:57:08.293Z,1758326228.293 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:08.521Z,1758326228.521 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:08.630Z,1758326228.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:08.633Z,1758326228.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 336.598938 m,
      bearing: 268.977704 deg,
      approach rate: -0.573817 m/s,
      LOS rate: -0.020425 deg/s,
      cmd heading: 259.802965 deg,
      new cmd heading: 259.785264 deg.

2025-09-19T23:57:08.634Z,1758326228.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534108 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:08.769Z,1758326228.769 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:09.021Z,1758326229.021 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:09.048Z,1758326229.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:09.051Z,1758326229.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 336.370789 m,
      bearing: 268.969572 deg,
      approach rate: -0.545035 m/s,
      LOS rate: -0.019440 deg/s,
      cmd heading: 259.785262 deg,
      new cmd heading: 259.768987 deg.

2025-09-19T23:57:09.056Z,1758326229.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533824 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:09.273Z,1758326229.273 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:09.517Z,1758326229.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:09.519Z,1758326229.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 336.085388 m,
      bearing: 268.959134 deg,
      approach rate: -0.609481 m/s,
      LOS rate: -0.022311 deg/s,
      cmd heading: 259.768978 deg,
      new cmd heading: 259.748083 deg.

2025-09-19T23:57:09.527Z,1758326229.527 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:09.532Z,1758326229.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533459 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:09.777Z,1758326229.777 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:09.874Z,1758326229.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:09.877Z,1758326229.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 335.874695 m,
      bearing: 268.951417 deg,
      approach rate: -0.589773 m/s,
      LOS rate: -0.021614 deg/s,
      cmd heading: 259.748078 deg,
      new cmd heading: 259.732635 deg.

2025-09-19T23:57:09.878Z,1758326229.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533190 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:10.029Z,1758326230.029 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:10.281Z,1758326230.281 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:10.332Z,1758326230.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:10.334Z,1758326230.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:10.337Z,1758326230.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 335.609802 m,
      bearing: 268.941066 deg,
      approach rate: -0.575964 m/s,
      LOS rate: -0.022524 deg/s,
      cmd heading: 259.732642 deg,
      new cmd heading: 259.711924 deg.

2025-09-19T23:57:10.338Z,1758326230.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532828 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:10.536Z,1758326230.536 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:10.696Z,1758326230.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:10.699Z,1758326230.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 335.397675 m,
      bearing: 268.932778 deg,
      approach rate: -0.586121 m/s,
      LOS rate: -0.022916 deg/s,
      cmd heading: 259.711933 deg,
      new cmd heading: 259.695346 deg.

2025-09-19T23:57:10.700Z,1758326230.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532539 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:10.786Z,1758326230.786 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:11.037Z,1758326231.037 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:11.099Z,1758326231.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:11.105Z,1758326231.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 335.165833 m,
      bearing: 268.923714 deg,
      approach rate: -0.576799 m/s,
      LOS rate: -0.022567 deg/s,
      cmd heading: 259.695349 deg,
      new cmd heading: 259.677208 deg.

2025-09-19T23:57:11.106Z,1758326231.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532222 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:11.290Z,1758326231.290 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:11.541Z,1758326231.541 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:11.612Z,1758326231.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:11.615Z,1758326231.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 334.871552 m,
      bearing: 268.911113 deg,
      approach rate: -0.572123 m/s,
      LOS rate: -0.024518 deg/s,
      cmd heading: 259.677208 deg,
      new cmd heading: 259.651985 deg.

2025-09-19T23:57:11.616Z,1758326231.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531782 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:11.793Z,1758326231.793 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:11.967Z,1758326231.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:11.970Z,1758326231.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 334.668701 m,
      bearing: 268.902439 deg,
      approach rate: -0.571723 m/s,
      LOS rate: -0.024462 deg/s,
      cmd heading: 259.651991 deg,
      new cmd heading: 259.634632 deg.

2025-09-19T23:57:11.971Z,1758326231.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531479 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:12.045Z,1758326232.045 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:12.297Z,1758326232.297 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:12.441Z,1758326232.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:12.443Z,1758326232.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:12.450Z,1758326232.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 334.419434 m,
      bearing: 268.891947 deg,
      approach rate: -0.523350 m/s,
      LOS rate: -0.022045 deg/s,
      cmd heading: 259.634642 deg,
      new cmd heading: 259.613642 deg.

2025-09-19T23:57:12.451Z,1758326232.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531113 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:12.549Z,1758326232.549 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:12.801Z,1758326232.801 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:12.900Z,1758326232.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:12.905Z,1758326232.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 334.145966 m,
      bearing: 268.880433 deg,
      approach rate: -0.598529 m/s,
      LOS rate: -0.025222 deg/s,
      cmd heading: 259.613633 deg,
      new cmd heading: 259.590585 deg.

2025-09-19T23:57:12.907Z,1758326232.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530710 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:13.053Z,1758326233.053 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:13.307Z,1758326233.307 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:13.369Z,1758326233.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:13.372Z,1758326233.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 333.892487 m,
      bearing: 268.869764 deg,
      approach rate: -0.540256 m/s,
      LOS rate: -0.022756 deg/s,
      cmd heading: 259.590574 deg,
      new cmd heading: 259.569220 deg.

2025-09-19T23:57:13.373Z,1758326233.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530337 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:13.562Z,1758326233.562 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:13.750Z,1758326233.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:13.754Z,1758326233.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 333.691956 m,
      bearing: 268.861311 deg,
      approach rate: -0.527027 m/s,
      LOS rate: -0.022228 deg/s,
      cmd heading: 259.569209 deg,
      new cmd heading: 259.552294 deg.

2025-09-19T23:57:13.756Z,1758326233.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530042 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:13.813Z,1758326233.813 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:14.065Z,1758326234.065 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:14.129Z,1758326234.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:14.135Z,1758326234.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 333.470367 m,
      bearing: 268.851959 deg,
      approach rate: -0.586231 m/s,
      LOS rate: -0.024758 deg/s,
      cmd heading: 259.552297 deg,
      new cmd heading: 259.533581 deg.

2025-09-19T23:57:14.136Z,1758326234.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529716 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:14.317Z,1758326234.317 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:14.553Z,1758326234.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:14.555Z,1758326234.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:14.558Z,1758326234.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 333.239746 m,
      bearing: 268.841925 deg,
      approach rate: -0.539382 m/s,
      LOS rate: -0.023483 deg/s,
      cmd heading: 259.533583 deg,
      new cmd heading: 259.513501 deg.

2025-09-19T23:57:14.559Z,1758326234.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529365 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:14.569Z,1758326234.569 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:14.821Z,1758326234.821 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:14.951Z,1758326234.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:14.960Z,1758326234.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 333.037689 m,
      bearing: 268.833146 deg,
      approach rate: -0.511168 m/s,
      LOS rate: -0.022225 deg/s,
      cmd heading: 259.513502 deg,
      new cmd heading: 259.495931 deg.

2025-09-19T23:57:14.961Z,1758326234.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529058 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:15.073Z,1758326235.073 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:15.325Z,1758326235.325 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:15.347Z,1758326235.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:15.366Z,1758326235.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 332.809601 m,
      bearing: 268.824153 deg,
      approach rate: -0.575677 m/s,
      LOS rate: -0.022712 deg/s,
      cmd heading: 259.495935 deg,
      new cmd heading: 259.477937 deg.

2025-09-19T23:57:15.367Z,1758326235.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528744 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:15.577Z,1758326235.577 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:15.750Z,1758326235.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:15.758Z,1758326235.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 332.602814 m,
      bearing: 268.815983 deg,
      approach rate: -0.512771 m/s,
      LOS rate: -0.020271 deg/s,
      cmd heading: 259.477930 deg,
      new cmd heading: 259.461581 deg.

2025-09-19T23:57:15.759Z,1758326235.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528459 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:15.830Z,1758326235.830 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:16.081Z,1758326236.081 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:16.135Z,1758326236.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:16.138Z,1758326236.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 332.378876 m,
      bearing: 268.807125 deg,
      approach rate: -0.581219 m/s,
      LOS rate: -0.023007 deg/s,
      cmd heading: 259.461593 deg,
      new cmd heading: 259.443864 deg.

2025-09-19T23:57:16.139Z,1758326236.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528150 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:16.334Z,1758326236.334 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:16.570Z,1758326236.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:16.576Z,1758326236.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:16.579Z,1758326236.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 332.148468 m,
      bearing: 268.798151 deg,
      approach rate: -0.527679 m/s,
      LOS rate: -0.020565 deg/s,
      cmd heading: 259.443861 deg,
      new cmd heading: 259.425902 deg.

2025-09-19T23:57:16.585Z,1758326236.585 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:16.585Z,1758326236.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527836 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:16.837Z,1758326236.837 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:16.950Z,1758326236.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:16.953Z,1758326236.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 331.931976 m,
      bearing: 268.789700 deg,
      approach rate: -0.572141 m/s,
      LOS rate: -0.022350 deg/s,
      cmd heading: 259.425912 deg,
      new cmd heading: 259.408998 deg.

2025-09-19T23:57:16.954Z,1758326236.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527541 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:17.089Z,1758326237.089 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:57:17.345Z,1758326237.345 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:57:17.345Z,1758326237.345 [DAT](INFO): response not received
2025-09-19T23:57:17.346Z,1758326237.346 [DAT](INFO): DAT read: Tx time:23:57:18.7625

2025-09-19T23:57:17.346Z,1758326237.346 [DAT](INFO): Ping request sent.
2025-09-19T23:57:17.346Z,1758326237.346 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:17.346Z,1758326237.346 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:17.382Z,1758326237.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:17.385Z,1758326237.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 331.685822 m,
      bearing: 268.780195 deg,
      approach rate: -0.570027 m/s,
      LOS rate: -0.022028 deg/s,
      cmd heading: 259.409000 deg,
      new cmd heading: 259.389976 deg.

2025-09-19T23:57:17.386Z,1758326237.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527209 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:17.762Z,1758326237.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:17.765Z,1758326237.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 331.470734 m,
      bearing: 268.771873 deg,
      approach rate: -0.566544 m/s,
      LOS rate: -0.021934 deg/s,
      cmd heading: 259.389985 deg,
      new cmd heading: 259.373331 deg.

2025-09-19T23:57:17.766Z,1758326237.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526918 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:18.168Z,1758326238.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:18.176Z,1758326238.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 331.247314 m,
      bearing: 268.763227 deg,
      approach rate: -0.550824 m/s,
      LOS rate: -0.021331 deg/s,
      cmd heading: 259.373319 deg,
      new cmd heading: 259.356015 deg.

2025-09-19T23:57:18.177Z,1758326238.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526617 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:18.613Z,1758326238.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:18.615Z,1758326238.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:18.622Z,1758326238.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 330.992004 m,
      bearing: 268.754580 deg,
      approach rate: -0.570315 m/s,
      LOS rate: -0.019329 deg/s,
      cmd heading: 259.356025 deg,
      new cmd heading: 259.338719 deg.

2025-09-19T23:57:18.623Z,1758326238.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526315 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:18.860Z,1758326238.860 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:18.861Z,1758326238.861 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:18.861Z,1758326238.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:18.977Z,1758326238.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:18.980Z,1758326238.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 330.767303 m,
      bearing: 268.746960 deg,
      approach rate: -0.620909 m/s,
      LOS rate: -0.021072 deg/s,
      cmd heading: 259.338731 deg,
      new cmd heading: 259.323480 deg.

2025-09-19T23:57:18.981Z,1758326238.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526049 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:19.109Z,1758326239.109 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:19.109Z,1758326239.109 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:19.110Z,1758326239.110 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:19.361Z,1758326239.361 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:19.361Z,1758326239.361 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:19.361Z,1758326239.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:19.432Z,1758326239.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:19.435Z,1758326239.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 330.516693 m,
      bearing: 268.739842 deg,
      approach rate: -0.556043 m/s,
      LOS rate: -0.015805 deg/s,
      cmd heading: 259.323486 deg,
      new cmd heading: 259.309239 deg.

2025-09-19T23:57:19.436Z,1758326239.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525800 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:19.613Z,1758326239.613 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:19.613Z,1758326239.613 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:19.613Z,1758326239.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:19.780Z,1758326239.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:19.783Z,1758326239.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 330.287109 m,
      bearing: 268.733362 deg,
      approach rate: -0.652184 m/s,
      LOS rate: -0.018420 deg/s,
      cmd heading: 259.309252 deg,
      new cmd heading: 259.296284 deg.

2025-09-19T23:57:19.784Z,1758326239.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525574 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:19.866Z,1758326239.866 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:19.866Z,1758326239.866 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:19.866Z,1758326239.866 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:20.117Z,1758326240.117 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:20.117Z,1758326240.117 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:20.117Z,1758326240.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:20.200Z,1758326240.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:20.203Z,1758326240.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 330.042938 m,
      bearing: 268.726482 deg,
      approach rate: -0.598035 m/s,
      LOS rate: -0.016864 deg/s,
      cmd heading: 259.296275 deg,
      new cmd heading: 259.282504 deg.

2025-09-19T23:57:20.204Z,1758326240.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525333 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:20.373Z,1758326240.373 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:20.373Z,1758326240.373 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:20.373Z,1758326240.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:20.619Z,1758326240.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:20.621Z,1758326240.621 [DAT](INFO): DAT read: Rx Time:23:57:21.6000

2025-09-19T23:57:20.622Z,1758326240.622 [DAT](INFO): Rx dataTimestamp_ set to:1758326240.621258
2025-09-19T23:57:20.622Z,1758326240.622 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:20.622Z,1758326240.622 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:20.622Z,1758326240.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:20.625Z,1758326240.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:20.627Z,1758326240.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 329.785004 m,
      bearing: 268.716998 deg,
      approach rate: -0.590844 m/s,
      LOS rate: -0.021740 deg/s,
      cmd heading: 259.282505 deg,
      new cmd heading: 259.263523 deg.

2025-09-19T23:57:20.645Z,1758326240.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525002 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:20.873Z,1758326240.873 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:20.873Z,1758326240.873 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:20.873Z,1758326240.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:20.994Z,1758326240.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.12 m.
2025-09-19T23:57:21.002Z,1758326241.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.121704 m,
      nav range: 329.572723 m,
      bearing: 268.709238 deg,
      approach rate: -0.575129 m/s,
      LOS rate: -0.021039 deg/s,
      cmd heading: 259.263517 deg,
      new cmd heading: 259.247986 deg.

2025-09-19T23:57:21.003Z,1758326241.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524731 target range: 344.121704 and range: 345.00 m.
2025-09-19T23:57:21.125Z,1758326241.125 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:21.125Z,1758326241.125 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:21.125Z,1758326241.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:57:21.382Z,1758326241.382 [DAT](INFO): DAT read: 23:57:21.6000 LVL= 31600, 31633, 32754, 32755, AGC= 70, IDX= 195, 0.07, 2.017, 0.273, 1.953, 1.666, PHS= 0.453,-1.348, 0.243, RAW= 143.9,   7.7, CAL= 143.5,   8.4, ROT=   6.5,  -8.4

2025-09-19T23:57:21.383Z,1758326241.383 [DAT](INFO): got valid direction response:
 23:57:21.6000 LVL= 31600, 31633, 32754, 32755, AGC= 70, IDX= 195, 0.07, 2.017, 0.273, 1.953, 1.666, PHS= 0.453,-1.348, 0.243, RAW= 143.9,   7.7, CAL= 143.5,   8.4, ROT=   6.5,  -8.4

2025-09-19T23:57:21.385Z,1758326241.385 [DAT](INFO): DAT read: Bearing  57.8,  15.0 (Local)

2025-09-19T23:57:21.385Z,1758326241.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.8,  15.0 (Local)

2025-09-19T23:57:21.387Z,1758326241.387 [DAT](INFO): DAT read: Range 11 to 50 : 325.0 m  (Round-trip  433.4 ms) speed  0.5 m/s

2025-09-19T23:57:21.397Z,1758326241.397 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-19T23:57:21.399Z,1758326241.399 [DAT](INFO): direction in FSK: [0.982913,0.111989,0.146083]
2025-09-19T23:57:21.399Z,1758326241.399 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:21.419Z,1758326241.419 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:21.419Z,1758326241.419 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:21.419Z,1758326241.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:21.629Z,1758326241.629 [DAT](INFO): DAT read: 

2025-09-19T23:57:21.629Z,1758326241.629 [DAT](INFO): DAT read: Tx time:23:57:23.0140

2025-09-19T23:57:21.630Z,1758326241.630 [DAT](INFO): Ping request sent.
2025-09-19T23:57:21.630Z,1758326241.630 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:21.630Z,1758326241.630 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:21.631Z,1758326241.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-09-19T23:57:21.645Z,1758326241.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 325.000000 m,
      deltaT: 16.388214 s,
      deltaX: -20.000000 m,
      approachRate: -1.220389 m/s,
      rangeRepo size: 4

2025-09-19T23:57:21.647Z,1758326241.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 324.168640 m,
      bearing: 266.415234 deg,
      lat: 36.779568 deg,
      lon: -121.859905 deg,
      deltaT: 16.388214 s,
      deltaX: -19.953064 m,
      approachRate: -1.217525 m/s,
      posRepo size: 4

2025-09-19T23:57:21.648Z,1758326241.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:21.651Z,1758326241.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 328.369751 m,
      bearing: 268.691567 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021039 deg/s,
      cmd heading: 259.247999 deg,
      new cmd heading: 259.220610 deg.

2025-09-19T23:57:21.652Z,1758326241.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524253 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:21.882Z,1758326241.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251684
2025-09-19T23:57:22.061Z,1758326242.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:22.072Z,1758326242.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 328.140228 m,
      bearing: 268.683033 deg,
      approach rate: -0.550916 m/s,
      LOS rate: -0.020497 deg/s,
      cmd heading: 259.220623 deg,
      new cmd heading: 259.203545 deg.

2025-09-19T23:57:22.073Z,1758326242.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523955 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:22.134Z,1758326242.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504042
2025-09-19T23:57:22.386Z,1758326242.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756265
2025-09-19T23:57:22.485Z,1758326242.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:22.488Z,1758326242.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 327.879120 m,
      bearing: 268.673671 deg,
      approach rate: -0.616303 m/s,
      LOS rate: -0.022116 deg/s,
      cmd heading: 259.203548 deg,
      new cmd heading: 259.184808 deg.

2025-09-19T23:57:22.489Z,1758326242.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523628 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:22.637Z,1758326242.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006984
2025-09-19T23:57:22.840Z,1758326242.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:22.843Z,1758326242.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:22.845Z,1758326242.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 327.671906 m,
      bearing: 268.666246 deg,
      approach rate: -0.579458 m/s,
      LOS rate: -0.020777 deg/s,
      cmd heading: 259.184806 deg,
      new cmd heading: 259.169946 deg.

2025-09-19T23:57:22.846Z,1758326242.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523369 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:22.891Z,1758326242.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260539
2025-09-19T23:57:23.142Z,1758326243.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512377
2025-09-19T23:57:23.244Z,1758326243.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:23.247Z,1758326243.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 327.446198 m,
      bearing: 268.658155 deg,
      approach rate: -0.567679 m/s,
      LOS rate: -0.020362 deg/s,
      cmd heading: 259.169943 deg,
      new cmd heading: 259.153752 deg.

2025-09-19T23:57:23.248Z,1758326243.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523086 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:23.394Z,1758326243.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764106
2025-09-19T23:57:23.625Z,1758326243.625 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 127.74, 119.06, 113.44
2025-09-19T23:57:23.645Z,1758326243.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015342
2025-09-19T23:57:23.665Z,1758326243.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:23.667Z,1758326243.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 327.200592 m,
      bearing: 268.649339 deg,
      approach rate: -0.578423 m/s,
      LOS rate: -0.020778 deg/s,
      cmd heading: 259.153742 deg,
      new cmd heading: 259.136097 deg.

2025-09-19T23:57:23.673Z,1758326243.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522778 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:23.898Z,1758326243.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267824
2025-09-19T23:57:24.034Z,1758326244.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:24.037Z,1758326244.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 326.982330 m,
      bearing: 268.641514 deg,
      approach rate: -0.591042 m/s,
      LOS rate: -0.021206 deg/s,
      cmd heading: 259.136093 deg,
      new cmd heading: 259.120431 deg.

2025-09-19T23:57:24.038Z,1758326244.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522505 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:24.149Z,1758326244.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519367
2025-09-19T23:57:24.402Z,1758326244.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772377
2025-09-19T23:57:24.470Z,1758326244.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:24.473Z,1758326244.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 326.736633 m,
      bearing: 268.632019 deg,
      approach rate: -0.563044 m/s,
      LOS rate: -0.021775 deg/s,
      cmd heading: 259.120438 deg,
      new cmd heading: 259.101434 deg.

2025-09-19T23:57:24.474Z,1758326244.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522173 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:24.657Z,1758326244.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026464
2025-09-19T23:57:24.842Z,1758326244.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:24.845Z,1758326244.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 326.527802 m,
      bearing: 268.623937 deg,
      approach rate: -0.562139 m/s,
      LOS rate: -0.021769 deg/s,
      cmd heading: 259.101423 deg,
      new cmd heading: 259.085249 deg.

2025-09-19T23:57:24.850Z,1758326244.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521891 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:24.907Z,1758326244.907 [DAT](INFO): DAT read: Rx Time:23:57:25.8488

2025-09-19T23:57:24.908Z,1758326244.908 [DAT](INFO): Rx dataTimestamp_ set to:1758326244.907438
2025-09-19T23:57:24.909Z,1758326244.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278893
2025-09-19T23:57:25.157Z,1758326245.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527118
2025-09-19T23:57:25.238Z,1758326245.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:25.240Z,1758326245.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.17 m.
2025-09-19T23:57:25.243Z,1758326245.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.168640 m,
      nav range: 326.303955 m,
      bearing: 268.615262 deg,
      approach rate: -0.562195 m/s,
      LOS rate: -0.021803 deg/s,
      cmd heading: 259.085249 deg,
      new cmd heading: 259.067887 deg.

2025-09-19T23:57:25.245Z,1758326245.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521588 target range: 324.168640 and range: 325.00 m.
2025-09-19T23:57:25.412Z,1758326245.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781553
2025-09-19T23:57:25.666Z,1758326245.666 [DAT](INFO): DAT read: 23:57:25.8488 LVL= 27168, 32753, 31042, 32755, AGC= 70, IDX= 243, 0.08,-0.822,-2.647,-0.921,-1.227, PHS= 0.507,-1.374, 0.262, RAW= 143.1,   6.9, CAL= 142.7,   7.6, ROT=   7.3,  -7.6

2025-09-19T23:57:25.667Z,1758326245.667 [DAT](INFO): got valid direction response:
 23:57:25.8488 LVL= 27168, 32753, 31042, 32755, AGC= 70, IDX= 243, 0.08,-0.822,-2.647,-0.921,-1.227, PHS= 0.507,-1.374, 0.262, RAW= 143.1,   6.9, CAL= 142.7,   7.6, ROT=   7.3,  -7.6

2025-09-19T23:57:25.668Z,1758326245.668 [DAT](INFO): DAT read: Bearing  56.7,  17.0 (Local)

2025-09-19T23:57:25.669Z,1758326245.669 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.7,  17.0 (Local)

2025-09-19T23:57:25.670Z,1758326245.670 [DAT](INFO): DAT read: Range 11 to 50 : 322.9 m  (Round-trip  430.6 ms) speed  0.4 m/s

2025-09-19T23:57:25.671Z,1758326245.671 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:25.671Z,1758326245.671 [DAT](INFO): direction in FSK: [0.983181,0.125948,0.132256]
2025-09-19T23:57:25.672Z,1758326245.672 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:25.675Z,1758326245.675 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:25.675Z,1758326245.675 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:25.675Z,1758326245.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:25.706Z,1758326245.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 322.899994 m,
      deltaT: 4.283840 s,
      deltaX: -2.100006 m,
      approachRate: -0.490216 m/s,
      rangeRepo size: 4

2025-09-19T23:57:25.712Z,1758326245.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 322.073608 m,
      bearing: 267.080306 deg,
      lat: 36.779498 deg,
      lon: -121.859905 deg,
      deltaT: 4.283840 s,
      deltaX: -2.095032 m,
      approachRate: -0.489055 m/s,
      posRepo size: 4

2025-09-19T23:57:25.713Z,1758326245.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:25.715Z,1758326245.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 326.359100 m,
      bearing: 267.253368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021803 deg/s,
      cmd heading: 259.067900 deg,
      new cmd heading: 259.047614 deg.

2025-09-19T23:57:25.721Z,1758326245.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521234 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:25.913Z,1758326245.913 [DAT](INFO): DAT read: user:609>

2025-09-19T23:57:25.914Z,1758326245.914 [DAT](INFO): DAT read: Tx time:23:57:27.2625

2025-09-19T23:57:25.914Z,1758326245.914 [DAT](INFO): Ping request sent.
2025-09-19T23:57:25.914Z,1758326245.914 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:25.914Z,1758326245.914 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:25.915Z,1758326245.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-09-19T23:57:26.071Z,1758326246.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:26.074Z,1758326246.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 326.146332 m,
      bearing: 267.242914 deg,
      approach rate: -0.581154 m/s,
      LOS rate: -0.028573 deg/s,
      cmd heading: 259.047601 deg,
      new cmd heading: 259.026679 deg.

2025-09-19T23:57:26.075Z,1758326246.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520868 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:26.165Z,1758326246.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250656
2025-09-19T23:57:26.417Z,1758326246.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502504
2025-09-19T23:57:26.553Z,1758326246.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:26.556Z,1758326246.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 325.902985 m,
      bearing: 267.231767 deg,
      approach rate: -0.504971 m/s,
      LOS rate: -0.023148 deg/s,
      cmd heading: 259.026673 deg,
      new cmd heading: 259.004363 deg.

2025-09-19T23:57:26.557Z,1758326246.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520479 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:26.669Z,1758326246.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754674
2025-09-19T23:57:26.874Z,1758326246.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:26.880Z,1758326246.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 325.718018 m,
      bearing: 267.223289 deg,
      approach rate: -0.576665 m/s,
      LOS rate: -0.026447 deg/s,
      cmd heading: 259.004352 deg,
      new cmd heading: 258.987386 deg.

2025-09-19T23:57:26.882Z,1758326246.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520183 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:26.921Z,1758326246.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006430
2025-09-19T23:57:27.173Z,1758326247.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258741
2025-09-19T23:57:27.270Z,1758326247.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:27.272Z,1758326247.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:27.275Z,1758326247.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 325.506012 m,
      bearing: 267.213557 deg,
      approach rate: -0.532920 m/s,
      LOS rate: -0.024480 deg/s,
      cmd heading: 258.987386 deg,
      new cmd heading: 258.967909 deg.

2025-09-19T23:57:27.292Z,1758326247.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519843 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:27.425Z,1758326247.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510616
2025-09-19T23:57:27.677Z,1758326247.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762563
2025-09-19T23:57:27.730Z,1758326247.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:27.738Z,1758326247.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 325.267395 m,
      bearing: 267.201956 deg,
      approach rate: -0.521628 m/s,
      LOS rate: -0.025379 deg/s,
      cmd heading: 258.967906 deg,
      new cmd heading: 258.944687 deg.

2025-09-19T23:57:27.741Z,1758326247.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519437 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:27.929Z,1758326247.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014435
2025-09-19T23:57:28.086Z,1758326248.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:28.089Z,1758326248.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 325.067810 m,
      bearing: 267.192234 deg,
      approach rate: -0.559902 m/s,
      LOS rate: -0.027289 deg/s,
      cmd heading: 258.944684 deg,
      new cmd heading: 258.925229 deg.

2025-09-19T23:57:28.090Z,1758326248.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519098 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:28.181Z,1758326248.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266796
2025-09-19T23:57:28.433Z,1758326248.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518485
2025-09-19T23:57:28.522Z,1758326248.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:28.525Z,1758326248.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 324.828156 m,
      bearing: 267.181320 deg,
      approach rate: -0.549306 m/s,
      LOS rate: -0.025034 deg/s,
      cmd heading: 258.925231 deg,
      new cmd heading: 258.903388 deg.

2025-09-19T23:57:28.526Z,1758326248.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518716 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:28.685Z,1758326248.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770481
2025-09-19T23:57:28.909Z,1758326248.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:28.912Z,1758326248.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 324.618500 m,
      bearing: 267.171761 deg,
      approach rate: -0.541216 m/s,
      LOS rate: -0.024692 deg/s,
      cmd heading: 258.903375 deg,
      new cmd heading: 258.884244 deg.

2025-09-19T23:57:28.913Z,1758326248.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518383 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:28.937Z,1758326248.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022607
2025-09-19T23:57:29.189Z,1758326249.189 [DAT](INFO): DAT read: Rx Time:23:57:30.0783

2025-09-19T23:57:29.189Z,1758326249.189 [DAT](INFO): Rx dataTimestamp_ set to:1758326249.189074
2025-09-19T23:57:29.190Z,1758326249.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275540
2025-09-19T23:57:29.304Z,1758326249.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:29.306Z,1758326249.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.07 m.
2025-09-19T23:57:29.309Z,1758326249.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.073608 m,
      nav range: 324.397522 m,
      bearing: 267.161667 deg,
      approach rate: -0.557127 m/s,
      LOS rate: -0.025467 deg/s,
      cmd heading: 258.884250 deg,
      new cmd heading: 258.864048 deg.

2025-09-19T23:57:29.310Z,1758326249.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518030 target range: 322.073608 and range: 322.90 m.
2025-09-19T23:57:29.446Z,1758326249.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531065
2025-09-19T23:57:29.698Z,1758326249.698 [DAT](INFO): DAT read: 23:57:30.0783 LVL= 25136, 32753, 32306, 32755, AGC= 69, IDX= 244, 0.21,-0.723,-2.515,-0.801,-1.139, PHS= 0.518,-1.330, 0.294, RAW= 143.6,   6.0, CAL= 143.2,   6.6, ROT=   6.8,  -6.6

2025-09-19T23:57:29.699Z,1758326249.699 [DAT](INFO): got valid direction response:
 23:57:30.0783 LVL= 25136, 32753, 32306, 32755, AGC= 69, IDX= 244, 0.21,-0.723,-2.515,-0.801,-1.139, PHS= 0.518,-1.330, 0.294, RAW= 143.6,   6.0, CAL= 143.2,   6.6, ROT=   6.8,  -6.6

2025-09-19T23:57:29.700Z,1758326249.700 [DAT](INFO): DAT read: Bearing  55.3,  17.5 (Local)

2025-09-19T23:57:29.700Z,1758326249.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.3,  17.5 (Local)

2025-09-19T23:57:29.702Z,1758326249.702 [DAT](INFO): DAT read: Range 11 to 50 : 308.7 m  (Round-trip  411.7 ms) speed  0.7 m/s

2025-09-19T23:57:29.702Z,1758326249.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:29.703Z,1758326249.703 [DAT](INFO): direction in FSK: [0.986385,0.117619,0.114937]
2025-09-19T23:57:29.704Z,1758326249.704 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:29.707Z,1758326249.707 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:29.707Z,1758326249.707 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:29.707Z,1758326249.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:29.842Z,1758326249.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 308.700012 m,
      deltaT: 4.031944 s,
      deltaX: -14.199982 m,
      approachRate: -3.521870 m/s,
      rangeRepo size: 4

2025-09-19T23:57:29.852Z,1758326249.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 307.909760 m,
      bearing: 266.478822 deg,
      lat: 36.779481 deg,
      lon: -121.859690 deg,
      deltaT: 4.031944 s,
      deltaX: -14.163849 m,
      approachRate: -3.512908 m/s,
      posRepo size: 4

2025-09-19T23:57:29.853Z,1758326249.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:29.855Z,1758326249.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 305.108307 m,
      bearing: 266.609422 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025467 deg/s,
      cmd heading: 258.864060 deg,
      new cmd heading: 258.836803 deg.

2025-09-19T23:57:29.861Z,1758326249.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517554 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:29.949Z,1758326249.949 [DAT](INFO): DAT read: user:610>

2025-09-19T23:57:29.950Z,1758326249.950 [DAT](INFO): DAT read: Tx time:23:57:31.2625

2025-09-19T23:57:29.950Z,1758326249.950 [DAT](INFO): Ping request sent.
2025-09-19T23:57:29.951Z,1758326249.951 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:29.951Z,1758326249.951 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:29.951Z,1758326249.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-09-19T23:57:30.201Z,1758326250.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250362
2025-09-19T23:57:30.209Z,1758326250.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:30.211Z,1758326250.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 304.891052 m,
      bearing: 266.598759 deg,
      approach rate: -0.590901 m/s,
      LOS rate: -0.029023 deg/s,
      cmd heading: 258.836794 deg,
      new cmd heading: 258.815452 deg.

2025-09-19T23:57:30.213Z,1758326250.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517182 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:30.457Z,1758326250.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505867
2025-09-19T23:57:30.629Z,1758326250.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:30.632Z,1758326250.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 304.646423 m,
      bearing: 266.587579 deg,
      approach rate: -0.582098 m/s,
      LOS rate: -0.026623 deg/s,
      cmd heading: 258.815457 deg,
      new cmd heading: 258.793079 deg.

2025-09-19T23:57:30.633Z,1758326250.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516791 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:30.705Z,1758326250.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754415
2025-09-19T23:57:30.957Z,1758326250.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006236
2025-09-19T23:57:31.017Z,1758326251.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:31.020Z,1758326251.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 304.421326 m,
      bearing: 266.577315 deg,
      approach rate: -0.580083 m/s,
      LOS rate: -0.026471 deg/s,
      cmd heading: 258.793081 deg,
      new cmd heading: 258.772537 deg.

2025-09-19T23:57:31.021Z,1758326251.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516433 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:31.212Z,1758326251.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261737
2025-09-19T23:57:31.463Z,1758326251.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512322
2025-09-19T23:57:31.490Z,1758326251.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:31.501Z,1758326251.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:31.503Z,1758326251.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 304.162109 m,
      bearing: 266.565520 deg,
      approach rate: -0.536120 m/s,
      LOS rate: -0.024415 deg/s,
      cmd heading: 258.772536 deg,
      new cmd heading: 258.748927 deg.

2025-09-19T23:57:31.509Z,1758326251.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516021 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:31.713Z,1758326251.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823
2025-09-19T23:57:31.863Z,1758326251.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:31.868Z,1758326251.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 303.936371 m,
      bearing: 266.554234 deg,
      approach rate: -0.623002 m/s,
      LOS rate: -0.031172 deg/s,
      cmd heading: 258.748931 deg,
      new cmd heading: 258.726341 deg.

2025-09-19T23:57:31.870Z,1758326251.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515626 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:31.965Z,1758326251.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014441
2025-09-19T23:57:32.217Z,1758326252.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266319
2025-09-19T23:57:32.250Z,1758326252.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:32.253Z,1758326252.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 303.717560 m,
      bearing: 266.543282 deg,
      approach rate: -0.565232 m/s,
      LOS rate: -0.028311 deg/s,
      cmd heading: 258.726336 deg,
      new cmd heading: 258.704417 deg.

2025-09-19T23:57:32.254Z,1758326252.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515244 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:32.472Z,1758326252.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520695
2025-09-19T23:57:32.678Z,1758326252.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:32.681Z,1758326252.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 303.471405 m,
      bearing: 266.531880 deg,
      approach rate: -0.575038 m/s,
      LOS rate: -0.026657 deg/s,
      cmd heading: 258.704425 deg,
      new cmd heading: 258.681603 deg.

2025-09-19T23:57:32.682Z,1758326252.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514846 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:32.722Z,1758326252.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771161
2025-09-19T23:57:32.973Z,1758326252.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022251
2025-09-19T23:57:33.060Z,1758326253.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:33.063Z,1758326253.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 303.252258 m,
      bearing: 266.521752 deg,
      approach rate: -0.574287 m/s,
      LOS rate: -0.026559 deg/s,
      cmd heading: 258.681612 deg,
      new cmd heading: 258.661343 deg.

2025-09-19T23:57:33.064Z,1758326253.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514492 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:33.226Z,1758326253.226 [DAT](INFO): DAT read: Rx Time:23:57:34.0753

2025-09-19T23:57:33.227Z,1758326253.227 [DAT](INFO): Rx dataTimestamp_ set to:1758326253.226316
2025-09-19T23:57:33.227Z,1758326253.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276559
2025-09-19T23:57:33.480Z,1758326253.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528737
2025-09-19T23:57:33.530Z,1758326253.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:33.537Z,1758326253.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.91 m.
2025-09-19T23:57:33.539Z,1758326253.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.909760 m,
      nav range: 302.988037 m,
      bearing: 266.509560 deg,
      approach rate: -0.553982 m/s,
      LOS rate: -0.025586 deg/s,
      cmd heading: 258.661340 deg,
      new cmd heading: 258.636934 deg.

2025-09-19T23:57:33.545Z,1758326253.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514066 target range: 307.909760 and range: 308.70 m.
2025-09-19T23:57:33.737Z,1758326253.737 [DAT](INFO): DAT read: 23:57:34.0753 LVL= 32064, 32753, 32754, 32755, AGC= 70, IDX= 407,-0.28, 2.150, 0.328, 2.055, 1.727, PHS= 0.525,-1.355, 0.284, RAW= 143.2,   6.2, CAL= 142.8,   6.8, ROT=   7.2,  -6.8

2025-09-19T23:57:33.738Z,1758326253.738 [DAT](INFO): got valid direction response:
 23:57:34.0753 LVL= 32064, 32753, 32754, 32755, AGC= 70, IDX= 407,-0.28, 2.150, 0.328, 2.055, 1.727, PHS= 0.525,-1.355, 0.284, RAW= 143.2,   6.2, CAL= 142.8,   6.8, ROT=   7.2,  -6.8

2025-09-19T23:57:33.742Z,1758326253.742 [DAT](INFO): DAT read: Bearing  55.3,  18.4 (Local)

2025-09-19T23:57:33.744Z,1758326253.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.3,  18.4 (Local)

2025-09-19T23:57:33.749Z,1758326253.749 [DAT](INFO): DAT read: Range 11 to 50 : 306.6 m  (Round-trip  408.8 ms) speed  0.5 m/s

2025-09-19T23:57:33.750Z,1758326253.750 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:33.752Z,1758326253.752 [DAT](INFO): direction in FSK: [0.985136,0.124452,0.118404]
2025-09-19T23:57:33.752Z,1758326253.752 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:33.758Z,1758326253.758 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:33.758Z,1758326253.758 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:33.758Z,1758326253.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:33.975Z,1758326253.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.600006 m,
      deltaT: 4.036480 s,
      deltaX: -2.100006 m,
      approachRate: -0.520257 m/s,
      rangeRepo size: 4

2025-09-19T23:57:33.981Z,1758326253.981 [DAT](INFO): DAT read: user:611>

2025-09-19T23:57:33.982Z,1758326253.982 [DAT](INFO): DAT read: Tx time:23:57:35.3124

2025-09-19T23:57:33.982Z,1758326253.982 [DAT](INFO): Ping request sent.
2025-09-19T23:57:33.982Z,1758326253.982 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:33.982Z,1758326253.982 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:33.983Z,1758326253.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-09-19T23:57:33.989Z,1758326253.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.816284 m,
      bearing: 266.612411 deg,
      lat: 36.779481 deg,
      lon: -121.859689 deg,
      deltaT: 4.036480 s,
      deltaX: -2.093475 m,
      approachRate: -0.518639 m/s,
      posRepo size: 4

2025-09-19T23:57:33.990Z,1758326253.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:34.001Z,1758326254.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 302.640320 m,
      bearing: 266.497257 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025586 deg/s,
      cmd heading: 258.636943 deg,
      new cmd heading: 258.614530 deg.

2025-09-19T23:57:34.002Z,1758326254.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513675 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:34.233Z,1758326254.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250680
2025-09-19T23:57:34.290Z,1758326254.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:34.297Z,1758326254.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 302.447479 m,
      bearing: 266.488680 deg,
      approach rate: -0.610763 m/s,
      LOS rate: -0.027182 deg/s,
      cmd heading: 258.614540 deg,
      new cmd heading: 258.597375 deg.

2025-09-19T23:57:34.298Z,1758326254.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513376 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:34.488Z,1758326254.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504806
2025-09-19T23:57:34.712Z,1758326254.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:34.715Z,1758326254.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 302.202637 m,
      bearing: 266.477971 deg,
      approach rate: -0.580819 m/s,
      LOS rate: -0.025424 deg/s,
      cmd heading: 258.597382 deg,
      new cmd heading: 258.575948 deg.

2025-09-19T23:57:34.716Z,1758326254.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513001 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:34.738Z,1758326254.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755373
2025-09-19T23:57:34.989Z,1758326254.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006648
2025-09-19T23:57:35.086Z,1758326255.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:35.110Z,1758326255.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 301.989136 m,
      bearing: 266.468651 deg,
      approach rate: -0.571535 m/s,
      LOS rate: -0.024966 deg/s,
      cmd heading: 258.575936 deg,
      new cmd heading: 258.557283 deg.

2025-09-19T23:57:35.111Z,1758326255.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512676 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:35.241Z,1758326255.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258575
2025-09-19T23:57:35.496Z,1758326255.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513044
2025-09-19T23:57:35.564Z,1758326255.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:35.566Z,1758326255.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:35.573Z,1758326255.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 301.723145 m,
      bearing: 266.457088 deg,
      approach rate: -0.553511 m/s,
      LOS rate: -0.024084 deg/s,
      cmd heading: 258.557275 deg,
      new cmd heading: 258.534128 deg.

2025-09-19T23:57:35.574Z,1758326255.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512272 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:35.746Z,1758326255.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763208
2025-09-19T23:57:35.997Z,1758326255.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014544
2025-09-19T23:57:36.021Z,1758326256.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:36.023Z,1758326256.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 301.464813 m,
      bearing: 266.444859 deg,
      approach rate: -0.568049 m/s,
      LOS rate: -0.026913 deg/s,
      cmd heading: 258.534135 deg,
      new cmd heading: 258.509657 deg.

2025-09-19T23:57:36.025Z,1758326256.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511845 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:36.250Z,1758326256.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267949
2025-09-19T23:57:36.392Z,1758326256.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:36.394Z,1758326256.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 301.279449 m,
      bearing: 266.436099 deg,
      approach rate: -0.506411 m/s,
      LOS rate: -0.023947 deg/s,
      cmd heading: 258.509655 deg,
      new cmd heading: 258.492125 deg.

2025-09-19T23:57:36.395Z,1758326256.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511539 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:36.505Z,1758326256.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522072
2025-09-19T23:57:36.757Z,1758326256.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774423
2025-09-19T23:57:36.822Z,1758326256.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:36.825Z,1758326256.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 301.019501 m,
      bearing: 266.424021 deg,
      approach rate: -0.597324 m/s,
      LOS rate: -0.027778 deg/s,
      cmd heading: 258.492115 deg,
      new cmd heading: 258.467938 deg.

2025-09-19T23:57:36.826Z,1758326256.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511117 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:37.005Z,1758326257.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022562
2025-09-19T23:57:37.158Z,1758326257.158 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:57:37.198Z,1758326257.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:37.203Z,1758326257.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 300.809265 m,
      bearing: 266.414236 deg,
      approach rate: -0.559812 m/s,
      LOS rate: -0.026073 deg/s,
      cmd heading: 258.467937 deg,
      new cmd heading: 258.448353 deg.

2025-09-19T23:57:37.205Z,1758326257.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510775 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:37.258Z,1758326257.258 [DAT](INFO): DAT read: Rx Time:23:57:38.1223

2025-09-19T23:57:37.259Z,1758326257.259 [DAT](INFO): Rx dataTimestamp_ set to:1758326257.258011
2025-09-19T23:57:37.259Z,1758326257.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276871
2025-09-19T23:57:37.511Z,1758326257.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528705
2025-09-19T23:57:37.634Z,1758326257.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:37.637Z,1758326257.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.82 m.
2025-09-19T23:57:37.639Z,1758326257.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.816284 m,
      nav range: 300.569183 m,
      bearing: 266.403761 deg,
      approach rate: -0.546837 m/s,
      LOS rate: -0.023878 deg/s,
      cmd heading: 258.448348 deg,
      new cmd heading: 258.427381 deg.

2025-09-19T23:57:37.640Z,1758326257.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510409 target range: 305.816284 and range: 306.60 m.
2025-09-19T23:57:37.766Z,1758326257.766 [DAT](INFO): DAT read: 23:57:38.1223 LVL= 30704, 32753, 31346, 32755, AGC= 72, IDX= 408,-0.13,-0.569,-2.371,-0.679,-1.018, PHS= 0.550,-1.308, 0.295, RAW= 142.7,   5.4, CAL= 142.3,   6.0, ROT=   7.7,  -6.0

2025-09-19T23:57:37.767Z,1758326257.767 [DAT](INFO): got valid direction response:
 23:57:38.1223 LVL= 30704, 32753, 31346, 32755, AGC= 72, IDX= 408,-0.13,-0.569,-2.371,-0.679,-1.018, PHS= 0.550,-1.308, 0.295, RAW= 142.7,   5.4, CAL= 142.3,   6.0, ROT=   7.7,  -6.0

2025-09-19T23:57:37.769Z,1758326257.769 [DAT](INFO): DAT read: Bearing  54.2,  19.5 (Local)

2025-09-19T23:57:37.769Z,1758326257.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.2,  19.5 (Local)

2025-09-19T23:57:37.770Z,1758326257.770 [DAT](INFO): DAT read: Range 11 to 50 : 304.3 m  (Round-trip  405.8 ms) speed  0.4 m/s

2025-09-19T23:57:37.771Z,1758326257.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:37.772Z,1758326257.772 [DAT](INFO): direction in FSK: [0.985554,0.133252,0.104528]
2025-09-19T23:57:37.772Z,1758326257.772 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:37.775Z,1758326257.775 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:37.776Z,1758326257.776 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:37.804Z,1758326257.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:37.992Z,1758326257.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 304.299988 m,
      deltaT: 4.031807 s,
      deltaX: -2.300018 m,
      approachRate: -0.570468 m/s,
      rangeRepo size: 4

2025-09-19T23:57:37.994Z,1758326257.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 303.523651 m,
      bearing: 266.671175 deg,
      lat: 36.779493 deg,
      lon: -121.859564 deg,
      deltaT: 4.031807 s,
      deltaX: -2.292633 m,
      approachRate: -0.568637 m/s,
      posRepo size: 4

2025-09-19T23:57:37.995Z,1758326257.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:37.998Z,1758326257.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 289.178619 m,
      bearing: 266.519413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023878 deg/s,
      cmd heading: 258.427393 deg,
      new cmd heading: 258.410452 deg.

2025-09-19T23:57:37.999Z,1758326257.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510113 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:38.013Z,1758326258.013 [DAT](INFO): DAT read: user:612>

2025-09-19T23:57:38.014Z,1758326258.014 [DAT](INFO): DAT read: Tx time:23:57:39.3624

2025-09-19T23:57:38.014Z,1758326258.014 [DAT](INFO): Ping request sent.
2025-09-19T23:57:38.014Z,1758326258.014 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:38.014Z,1758326258.014 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:38.015Z,1758326258.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-09-19T23:57:38.161Z,1758326258.161 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:57:38.265Z,1758326258.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250654
2025-09-19T23:57:38.399Z,1758326258.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:38.422Z,1758326258.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 288.952576 m,
      bearing: 266.509240 deg,
      approach rate: -0.554213 m/s,
      LOS rate: -0.024962 deg/s,
      cmd heading: 258.410454 deg,
      new cmd heading: 258.390092 deg.

2025-09-19T23:57:38.423Z,1758326258.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509758 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:38.521Z,1758326258.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505217
2025-09-19T23:57:38.769Z,1758326258.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754802
2025-09-19T23:57:38.814Z,1758326258.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:38.817Z,1758326258.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 288.728333 m,
      bearing: 266.498849 deg,
      approach rate: -0.540251 m/s,
      LOS rate: -0.025052 deg/s,
      cmd heading: 258.390100 deg,
      new cmd heading: 258.369303 deg.

2025-09-19T23:57:38.818Z,1758326258.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509395 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:39.022Z,1758326259.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007462
2025-09-19T23:57:39.191Z,1758326259.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:39.194Z,1758326259.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 288.524567 m,
      bearing: 266.489392 deg,
      approach rate: -0.540400 m/s,
      LOS rate: -0.025099 deg/s,
      cmd heading: 258.369309 deg,
      new cmd heading: 258.350380 deg.

2025-09-19T23:57:39.195Z,1758326259.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509065 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:39.273Z,1758326259.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258817
2025-09-19T23:57:39.525Z,1758326259.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510925
2025-09-19T23:57:39.639Z,1758326259.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:39.642Z,1758326259.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:39.665Z,1758326259.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 288.282959 m,
      bearing: 266.478351 deg,
      approach rate: -0.535990 m/s,
      LOS rate: -0.024514 deg/s,
      cmd heading: 258.350375 deg,
      new cmd heading: 258.328275 deg.

2025-09-19T23:57:39.666Z,1758326259.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508679 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:39.778Z,1758326259.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763394
2025-09-19T23:57:40.012Z,1758326260.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:40.015Z,1758326260.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 288.083740 m,
      bearing: 266.469235 deg,
      approach rate: -0.538704 m/s,
      LOS rate: -0.024667 deg/s,
      cmd heading: 258.328273 deg,
      new cmd heading: 258.310029 deg.

2025-09-19T23:57:40.016Z,1758326260.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508360 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:40.029Z,1758326260.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014738
2025-09-19T23:57:40.281Z,1758326260.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266663
2025-09-19T23:57:40.409Z,1758326260.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:40.412Z,1758326260.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 287.870636 m,
      bearing: 266.459487 deg,
      approach rate: -0.536897 m/s,
      LOS rate: -0.024578 deg/s,
      cmd heading: 258.310023 deg,
      new cmd heading: 258.290512 deg.

2025-09-19T23:57:40.433Z,1758326260.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508020 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:40.535Z,1758326260.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520705
2025-09-19T23:57:40.785Z,1758326260.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770565
2025-09-19T23:57:40.838Z,1758326260.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:40.841Z,1758326260.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 287.637024 m,
      bearing: 266.448419 deg,
      approach rate: -0.544166 m/s,
      LOS rate: -0.025803 deg/s,
      cmd heading: 258.290516 deg,
      new cmd heading: 258.268361 deg.

2025-09-19T23:57:40.842Z,1758326260.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507633 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:41.037Z,1758326261.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022657
2025-09-19T23:57:41.235Z,1758326261.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:41.242Z,1758326261.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 287.431427 m,
      bearing: 266.438671 deg,
      approach rate: -0.527942 m/s,
      LOS rate: -0.025048 deg/s,
      cmd heading: 258.268358 deg,
      new cmd heading: 258.248849 deg.

2025-09-19T23:57:41.243Z,1758326261.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507293 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:41.291Z,1758326261.291 [DAT](INFO): DAT read: Rx Time:23:57:42.1695

2025-09-19T23:57:41.292Z,1758326261.292 [DAT](INFO): Rx dataTimestamp_ set to:1758326261.291392
2025-09-19T23:57:41.292Z,1758326261.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278152
2025-09-19T23:57:41.545Z,1758326261.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530716
2025-09-19T23:57:41.683Z,1758326261.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:41.685Z,1758326261.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.52 m.
2025-09-19T23:57:41.688Z,1758326261.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.523651 m,
      nav range: 287.173645 m,
      bearing: 266.426474 deg,
      approach rate: -0.563616 m/s,
      LOS rate: -0.026693 deg/s,
      cmd heading: 258.248851 deg,
      new cmd heading: 258.224435 deg.

2025-09-19T23:57:41.689Z,1758326261.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506866 target range: 303.523651 and range: 304.30 m.
2025-09-19T23:57:41.802Z,1758326261.802 [DAT](INFO): DAT read: 23:57:42.1695 LVL= 29152, 32753, 31794, 32755, AGC= 67, IDX= 411,-0.15, 1.647,-0.096, 1.494, 1.193, PHS= 0.556,-1.244, 0.257, RAW= 141.1,   5.2, CAL= 140.8,   5.9, ROT=   9.2,  -5.9

2025-09-19T23:57:41.803Z,1758326261.803 [DAT](INFO): got valid direction response:
 23:57:42.1695 LVL= 29152, 32753, 31794, 32755, AGC= 67, IDX= 411,-0.15, 1.647,-0.096, 1.494, 1.193, PHS= 0.556,-1.244, 0.257, RAW= 141.1,   5.2, CAL= 140.8,   5.9, ROT=   9.2,  -5.9

2025-09-19T23:57:41.805Z,1758326261.805 [DAT](INFO): DAT read: Bearing  54.3,  21.6 (Local)

2025-09-19T23:57:41.805Z,1758326261.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.3,  21.6 (Local)

2025-09-19T23:57:41.806Z,1758326261.806 [DAT](INFO): DAT read: Range 11 to 50 : 302.2 m  (Round-trip  403.0 ms) speed  0.4 m/s

2025-09-19T23:57:41.807Z,1758326261.807 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:41.808Z,1758326261.808 [DAT](INFO): direction in FSK: [0.981907,0.159034,0.102793]
2025-09-19T23:57:41.808Z,1758326261.808 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:41.811Z,1758326261.811 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:41.811Z,1758326261.811 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:41.812Z,1758326261.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:42.033Z,1758326262.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.200012 m,
      deltaT: 4.035967 s,
      deltaX: -2.099976 m,
      approachRate: -0.520315 m/s,
      rangeRepo size: 4

2025-09-19T23:57:42.035Z,1758326262.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 301.430206 m,
      bearing: 268.030650 deg,
      lat: 36.779498 deg,
      lon: -121.859560 deg,
      deltaT: 4.035967 s,
      deltaX: -2.093445 m,
      approachRate: -0.518697 m/s,
      posRepo size: 4

2025-09-19T23:57:42.035Z,1758326262.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:42.038Z,1758326262.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 286.654846 m,
      bearing: 266.532157 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026693 deg/s,
      cmd heading: 258.224427 deg,
      new cmd heading: 258.205921 deg.

2025-09-19T23:57:42.039Z,1758326262.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506544 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:42.049Z,1758326262.049 [DAT](INFO): DAT read: user:613>

2025-09-19T23:57:42.057Z,1758326262.057 [DAT](INFO): DAT read: Tx time:23:57:43.3624

2025-09-19T23:57:42.057Z,1758326262.057 [DAT](INFO): Ping request sent.
2025-09-19T23:57:42.057Z,1758326262.057 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:42.057Z,1758326262.057 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:42.058Z,1758326262.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-09-19T23:57:42.301Z,1758326262.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243836
2025-09-19T23:57:42.444Z,1758326262.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:42.447Z,1758326262.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 286.436584 m,
      bearing: 266.521934 deg,
      approach rate: -0.556398 m/s,
      LOS rate: -0.026080 deg/s,
      cmd heading: 258.205931 deg,
      new cmd heading: 258.185469 deg.

2025-09-19T23:57:42.452Z,1758326262.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506186 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:42.554Z,1758326262.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496476
2025-09-19T23:57:42.805Z,1758326262.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747524
2025-09-19T23:57:42.891Z,1758326262.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:42.898Z,1758326262.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 286.184570 m,
      bearing: 266.509274 deg,
      approach rate: -0.539878 m/s,
      LOS rate: -0.027145 deg/s,
      cmd heading: 258.185467 deg,
      new cmd heading: 258.160125 deg.

2025-09-19T23:57:42.899Z,1758326262.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505744 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:43.057Z,1758326263.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999807
2025-09-19T23:57:43.310Z,1758326263.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253038
2025-09-19T23:57:43.406Z,1758326263.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:43.409Z,1758326263.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 285.889984 m,
      bearing: 266.494494 deg,
      approach rate: -0.571551 m/s,
      LOS rate: -0.028706 deg/s,
      cmd heading: 258.160114 deg,
      new cmd heading: 258.130522 deg.

2025-09-19T23:57:43.410Z,1758326263.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505228 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:43.565Z,1758326263.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507164
2025-09-19T23:57:43.813Z,1758326263.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755737
2025-09-19T23:57:43.820Z,1758326263.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:43.822Z,1758326263.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:43.843Z,1758326263.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 285.654816 m,
      bearing: 266.481699 deg,
      approach rate: -0.565418 m/s,
      LOS rate: -0.030788 deg/s,
      cmd heading: 258.130525 deg,
      new cmd heading: 258.104914 deg.

2025-09-19T23:57:43.846Z,1758326263.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504781 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:44.066Z,1758326264.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008371
2025-09-19T23:57:44.317Z,1758326264.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259599
2025-09-19T23:57:44.337Z,1758326264.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:44.340Z,1758326264.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 285.362640 m,
      bearing: 266.465840 deg,
      approach rate: -0.568541 m/s,
      LOS rate: -0.030892 deg/s,
      cmd heading: 258.104926 deg,
      new cmd heading: 258.073175 deg.

2025-09-19T23:57:44.342Z,1758326264.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504227 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:44.570Z,1758326264.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512264
2025-09-19T23:57:44.805Z,1758326264.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:44.815Z,1758326264.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 285.096527 m,
      bearing: 266.451713 deg,
      approach rate: -0.566941 m/s,
      LOS rate: -0.030124 deg/s,
      cmd heading: 258.073179 deg,
      new cmd heading: 258.044900 deg.

2025-09-19T23:57:44.816Z,1758326264.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503733 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:44.821Z,1758326264.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763798
2025-09-19T23:57:45.074Z,1758326265.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016278
2025-09-19T23:57:45.159Z,1758326265.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:45.166Z,1758326265.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 284.888245 m,
      bearing: 266.440637 deg,
      approach rate: -0.589609 m/s,
      LOS rate: -0.031377 deg/s,
      cmd heading: 258.044902 deg,
      new cmd heading: 258.022734 deg.

2025-09-19T23:57:45.168Z,1758326265.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503346 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:45.325Z,1758326265.325 [DAT](INFO): DAT read: Rx Time:23:57:46.1666

2025-09-19T23:57:45.325Z,1758326265.325 [DAT](INFO): Rx dataTimestamp_ set to:1758326265.325071
2025-09-19T23:57:45.326Z,1758326265.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268663
2025-09-19T23:57:45.569Z,1758326265.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.43 m.
2025-09-19T23:57:45.581Z,1758326265.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523718
2025-09-19T23:57:45.597Z,1758326265.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.430206 m,
      nav range: 284.654633 m,
      bearing: 266.428195 deg,
      approach rate: -0.568821 m/s,
      LOS rate: -0.030321 deg/s,
      cmd heading: 258.022745 deg,
      new cmd heading: 257.997839 deg.

2025-09-19T23:57:45.598Z,1758326265.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502912 target range: 301.430206 and range: 302.20 m.
2025-09-19T23:57:45.839Z,1758326265.839 [DAT](INFO): DAT read: 23:57:46.1666 LVL= 30432, 32753, 32450, 32755, AGC= 68, IDX= 413, 0.04, 2.987, 1.202, 2.860, 2.516, PHS= 0.573,-1.269, 0.299, RAW= 142.1,   4.7, CAL= 141.8,   5.2, ROT=   8.2,  -5.2

2025-09-19T23:57:45.842Z,1758326265.842 [DAT](INFO): got valid direction response:
 23:57:46.1666 LVL= 30432, 32753, 32450, 32755, AGC= 68, IDX= 413, 0.04, 2.987, 1.202, 2.860, 2.516, PHS= 0.573,-1.269, 0.299, RAW= 142.1,   4.7, CAL= 141.8,   5.2, ROT=   8.2,  -5.2

2025-09-19T23:57:45.843Z,1758326265.843 [DAT](INFO): DAT read: Bearing  54.0,  20.9 (Local)

2025-09-19T23:57:45.844Z,1758326265.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.0,  20.9 (Local)

2025-09-19T23:57:45.847Z,1758326265.847 [DAT](INFO): DAT read: Range 11 to 50 : 300.0 m  (Round-trip  400.0 ms) speed  0.4 m/s

2025-09-19T23:57:45.848Z,1758326265.848 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:45.850Z,1758326265.850 [DAT](INFO): direction in FSK: [0.985703,0.142042,0.090633]
2025-09-19T23:57:45.850Z,1758326265.850 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:45.864Z,1758326265.864 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:45.864Z,1758326265.864 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:45.865Z,1758326265.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:46.036Z,1758326266.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.000000 m,
      deltaT: 4.035826 s,
      deltaX: -2.200012 m,
      approachRate: -0.545121 m/s,
      rangeRepo size: 4

2025-09-19T23:57:46.038Z,1758326266.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.236511 m,
      bearing: 266.560391 deg,
      lat: 36.779500 deg,
      lon: -121.859560 deg,
      deltaT: 4.035826 s,
      deltaX: -2.193695 m,
      approachRate: -0.543555 m/s,
      posRepo size: 4

2025-09-19T23:57:46.039Z,1758326266.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:46.046Z,1758326266.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 284.390991 m,
      bearing: 266.454731 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030321 deg/s,
      cmd heading: 257.997828 deg,
      new cmd heading: 257.969822 deg.

2025-09-19T23:57:46.047Z,1758326266.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502423 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:46.100Z,1758326266.100 [DAT](INFO): DAT read: user:614>

2025-09-19T23:57:46.100Z,1758326266.100 [DAT](INFO): DAT read: Tx time:23:57:47.4624

2025-09-19T23:57:46.101Z,1758326266.101 [DAT](INFO): Ping request sent.
2025-09-19T23:57:46.101Z,1758326266.101 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:46.101Z,1758326266.101 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:46.102Z,1758326266.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-09-19T23:57:46.341Z,1758326266.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.239700
2025-09-19T23:57:46.425Z,1758326266.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:46.427Z,1758326266.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:46.430Z,1758326266.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 284.161438 m,
      bearing: 266.443019 deg,
      approach rate: -0.579921 m/s,
      LOS rate: -0.029611 deg/s,
      cmd heading: 257.969825 deg,
      new cmd heading: 257.946382 deg.

2025-09-19T23:57:46.431Z,1758326266.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502014 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:46.589Z,1758326266.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.488546
2025-09-19T23:57:46.843Z,1758326266.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741987
2025-09-19T23:57:46.880Z,1758326266.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:46.883Z,1758326266.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 283.925842 m,
      bearing: 266.430465 deg,
      approach rate: -0.524728 m/s,
      LOS rate: -0.027984 deg/s,
      cmd heading: 257.946383 deg,
      new cmd heading: 257.921255 deg.

2025-09-19T23:57:46.888Z,1758326266.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501575 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:47.093Z,1758326267.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992104
2025-09-19T23:57:47.234Z,1758326267.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:47.237Z,1758326267.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 283.726868 m,
      bearing: 266.419877 deg,
      approach rate: -0.556308 m/s,
      LOS rate: -0.029624 deg/s,
      cmd heading: 257.921248 deg,
      new cmd heading: 257.900057 deg.

2025-09-19T23:57:47.238Z,1758326267.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501205 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:47.345Z,1758326267.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244489
2025-09-19T23:57:47.597Z,1758326267.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495901
2025-09-19T23:57:47.636Z,1758326267.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:47.659Z,1758326267.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 283.510437 m,
      bearing: 266.408342 deg,
      approach rate: -0.538576 m/s,
      LOS rate: -0.028725 deg/s,
      cmd heading: 257.900047 deg,
      new cmd heading: 257.876961 deg.

2025-09-19T23:57:47.667Z,1758326267.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500802 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:47.850Z,1758326267.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749381
2025-09-19T23:57:48.053Z,1758326268.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:48.056Z,1758326268.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 283.285339 m,
      bearing: 266.397541 deg,
      approach rate: -0.539013 m/s,
      LOS rate: -0.025885 deg/s,
      cmd heading: 257.876961 deg,
      new cmd heading: 257.855341 deg.

2025-09-19T23:57:48.057Z,1758326268.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500425 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:48.101Z,1758326268.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000119
2025-09-19T23:57:48.354Z,1758326268.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252544
2025-09-19T23:57:48.443Z,1758326268.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:48.446Z,1758326268.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:48.449Z,1758326268.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 283.073792 m,
      bearing: 266.387387 deg,
      approach rate: -0.538890 m/s,
      LOS rate: -0.025886 deg/s,
      cmd heading: 257.855351 deg,
      new cmd heading: 257.835027 deg.

2025-09-19T23:57:48.449Z,1758326268.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500070 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:48.605Z,1758326268.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504229
2025-09-19T23:57:48.858Z,1758326268.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757321
2025-09-19T23:57:48.901Z,1758326268.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:48.904Z,1758326268.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 282.830658 m,
      bearing: 266.377766 deg,
      approach rate: -0.533863 m/s,
      LOS rate: -0.021143 deg/s,
      cmd heading: 257.835024 deg,
      new cmd heading: 257.815766 deg.

2025-09-19T23:57:48.905Z,1758326268.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499734 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:49.109Z,1758326269.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008272
2025-09-19T23:57:49.246Z,1758326269.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:49.265Z,1758326269.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 282.646698 m,
      bearing: 266.370464 deg,
      approach rate: -0.533455 m/s,
      LOS rate: -0.021188 deg/s,
      cmd heading: 257.815763 deg,
      new cmd heading: 257.801150 deg.

2025-09-19T23:57:49.266Z,1758326269.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499479 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:49.362Z,1758326269.362 [DAT](INFO): DAT read: Rx Time:23:57:50.2635

2025-09-19T23:57:49.363Z,1758326269.363 [DAT](INFO): Rx dataTimestamp_ set to:1758326269.362762
2025-09-19T23:57:49.364Z,1758326269.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263500
2025-09-19T23:57:49.613Z,1758326269.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512004
2025-09-19T23:57:49.662Z,1758326269.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.24 m.
2025-09-19T23:57:49.664Z,1758326269.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.236511 m,
      nav range: 282.425049 m,
      bearing: 266.361638 deg,
      approach rate: -0.533340 m/s,
      LOS rate: -0.021254 deg/s,
      cmd heading: 257.801146 deg,
      new cmd heading: 257.783480 deg.

2025-09-19T23:57:49.665Z,1758326269.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499170 target range: 299.236511 and range: 300.00 m.
2025-09-19T23:57:49.899Z,1758326269.899 [DAT](INFO): DAT read: 23:57:50.2635 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.20,-1.761, 2.754,-1.883,-2.190, PHS= 0.531,-1.295, 0.263, RAW= 142.2,   5.9, CAL= 141.8,   6.6, ROT=   8.2,  -6.6

2025-09-19T23:57:49.900Z,1758326269.900 [DAT](INFO): got valid direction response:
 23:57:50.2635 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.20,-1.761, 2.754,-1.883,-2.190, PHS= 0.531,-1.295, 0.263, RAW= 142.2,   5.9, CAL= 141.8,   6.6, ROT=   8.2,  -6.6

2025-09-19T23:57:49.901Z,1758326269.901 [DAT](INFO): DAT read: Bearing  55.8,  20.9 (Local)

2025-09-19T23:57:49.901Z,1758326269.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.8,  20.9 (Local)

2025-09-19T23:57:49.902Z,1758326269.902 [DAT](INFO): DAT read: Range 11 to 50 : 297.7 m  (Round-trip  397.0 ms) speed  0.4 m/s

2025-09-19T23:57:49.903Z,1758326269.903 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:49.912Z,1758326269.912 [DAT](INFO): direction in FSK: [0.983217,0.141684,0.114937]
2025-09-19T23:57:49.912Z,1758326269.912 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:49.924Z,1758326269.924 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:49.924Z,1758326269.924 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:49.924Z,1758326269.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:50.117Z,1758326270.117 [DAT](INFO): DAT read: user:615>

2025-09-19T23:57:50.118Z,1758326270.118 [DAT](INFO): DAT read: Tx time:23:57:51.5124

2025-09-19T23:57:50.118Z,1758326270.118 [DAT](INFO): Ping request sent.
2025-09-19T23:57:50.118Z,1758326270.118 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:50.118Z,1758326270.118 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:50.119Z,1758326270.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-09-19T23:57:50.229Z,1758326270.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.700012 m,
      deltaT: 4.034323 s,
      deltaX: -2.299988 m,
      approachRate: -0.570105 m/s,
      rangeRepo size: 4

2025-09-19T23:57:50.231Z,1758326270.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 296.938843 m,
      bearing: 266.534166 deg,
      lat: 36.779505 deg,
      lon: -121.859559 deg,
      deltaT: 4.034323 s,
      deltaX: -2.297668 m,
      approachRate: -0.569530 m/s,
      posRepo size: 4

2025-09-19T23:57:50.232Z,1758326270.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:50.235Z,1758326270.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 282.021362 m,
      bearing: 266.452461 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021254 deg/s,
      cmd heading: 257.783470 deg,
      new cmd heading: 257.759363 deg.

2025-09-19T23:57:50.236Z,1758326270.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498750 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:50.373Z,1758326270.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254879
2025-09-19T23:57:50.621Z,1758326270.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502836
2025-09-19T23:57:50.854Z,1758326270.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:50.858Z,1758326270.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:50.863Z,1758326270.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 281.692230 m,
      bearing: 266.438704 deg,
      approach rate: -0.522985 m/s,
      LOS rate: -0.021886 deg/s,
      cmd heading: 257.759373 deg,
      new cmd heading: 257.731826 deg.

2025-09-19T23:57:50.864Z,1758326270.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498269 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:50.873Z,1758326270.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935
2025-09-19T23:57:51.125Z,1758326271.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006894
2025-09-19T23:57:51.370Z,1758326271.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:51.377Z,1758326271.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258988
2025-09-19T23:57:51.378Z,1758326271.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 281.428345 m,
      bearing: 266.427684 deg,
      approach rate: -0.515588 m/s,
      LOS rate: -0.021550 deg/s,
      cmd heading: 257.731833 deg,
      new cmd heading: 257.709774 deg.

2025-09-19T23:57:51.379Z,1758326271.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497884 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:51.630Z,1758326271.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511923
2025-09-19T23:57:51.792Z,1758326271.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:51.795Z,1758326271.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 281.194092 m,
      bearing: 266.417885 deg,
      approach rate: -0.554897 m/s,
      LOS rate: -0.023232 deg/s,
      cmd heading: 257.709786 deg,
      new cmd heading: 257.690171 deg.

2025-09-19T23:57:51.812Z,1758326271.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497542 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:51.881Z,1758326271.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763038
2025-09-19T23:57:52.133Z,1758326272.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889
2025-09-19T23:57:52.204Z,1758326272.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:52.207Z,1758326272.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 280.969330 m,
      bearing: 266.408784 deg,
      approach rate: -0.545428 m/s,
      LOS rate: -0.022102 deg/s,
      cmd heading: 257.690169 deg,
      new cmd heading: 257.671953 deg.

2025-09-19T23:57:52.208Z,1758326272.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497224 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:52.386Z,1758326272.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267576
2025-09-19T23:57:52.585Z,1758326272.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:52.587Z,1758326272.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 280.762024 m,
      bearing: 266.400433 deg,
      approach rate: -0.545839 m/s,
      LOS rate: -0.022004 deg/s,
      cmd heading: 257.671946 deg,
      new cmd heading: 257.655232 deg.

2025-09-19T23:57:52.588Z,1758326272.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496932 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:52.638Z,1758326272.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519926
2025-09-19T23:57:52.889Z,1758326272.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771154
2025-09-19T23:57:53.002Z,1758326273.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:53.005Z,1758326273.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:53.007Z,1758326273.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 280.536346 m,
      bearing: 266.390102 deg,
      approach rate: -0.536126 m/s,
      LOS rate: -0.024562 deg/s,
      cmd heading: 257.655226 deg,
      new cmd heading: 257.634548 deg.

2025-09-19T23:57:53.009Z,1758326273.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496571 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:53.141Z,1758326273.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022925
2025-09-19T23:57:53.393Z,1758326273.393 [DAT](INFO): DAT read: Rx Time:23:57:54.3282

2025-09-19T23:57:53.393Z,1758326273.393 [DAT](INFO): Rx dataTimestamp_ set to:1758326273.393171
2025-09-19T23:57:53.394Z,1758326273.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276028
2025-09-19T23:57:53.399Z,1758326273.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:53.401Z,1758326273.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 280.325104 m,
      bearing: 266.380469 deg,
      approach rate: -0.536288 m/s,
      LOS rate: -0.024475 deg/s,
      cmd heading: 257.634544 deg,
      new cmd heading: 257.615263 deg.

2025-09-19T23:57:53.402Z,1758326273.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496234 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:53.645Z,1758326273.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527209
2025-09-19T23:57:53.901Z,1758326273.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782078
2025-09-19T23:57:53.929Z,1758326273.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.94 m.
2025-09-19T23:57:53.937Z,1758326273.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.938843 m,
      nav range: 280.057373 m,
      bearing: 266.368166 deg,
      approach rate: -0.504674 m/s,
      LOS rate: -0.023213 deg/s,
      cmd heading: 257.615256 deg,
      new cmd heading: 257.590627 deg.

2025-09-19T23:57:53.938Z,1758326273.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495805 target range: 296.938843 and range: 297.70 m.
2025-09-19T23:57:54.155Z,1758326274.155 [DAT](INFO): DAT read: 23:57:54.3282 LVL= 22000, 32753, 25186, 29235, AGC= 71, IDX=  84,-0.22, 2.205, 0.449, 2.054, 1.756, PHS= 0.551,-1.262, 0.254, RAW= 141.2,   5.5, CAL= 140.9,   6.1, ROT=   9.1,  -6.1

2025-09-19T23:57:54.157Z,1758326274.157 [DAT](INFO): got valid direction response:
 23:57:54.3282 LVL= 22000, 32753, 25186, 29235, AGC= 71, IDX=  84,-0.22, 2.205, 0.449, 2.054, 1.756, PHS= 0.551,-1.262, 0.254, RAW= 141.2,   5.5, CAL= 140.9,   6.1, ROT=   9.1,  -6.1

2025-09-19T23:57:54.158Z,1758326274.158 [DAT](INFO): DAT read: Bearing  55.3,  21.6 (Local)

2025-09-19T23:57:54.158Z,1758326274.158 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.3,  21.6 (Local)

2025-09-19T23:57:54.159Z,1758326274.159 [DAT](INFO): DAT read: Range 11 to 50 : 308.7 m  (Round-trip  411.7 ms) speed  0.2 m/s

2025-09-19T23:57:54.160Z,1758326274.160 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:54.161Z,1758326274.161 [DAT](INFO): direction in FSK: [0.981823,0.157263,0.106264]
2025-09-19T23:57:54.161Z,1758326274.161 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:54.169Z,1758326274.169 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:54.169Z,1758326274.169 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:54.170Z,1758326274.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:54.331Z,1758326274.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 308.700012 m,
      deltaT: 4.282196 s,
      deltaX: 11.000000 m,
      approachRate: 2.568775 m/s,
      rangeRepo size: 4

2025-09-19T23:57:54.338Z,1758326274.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 307.902496 m,
      bearing: 266.916541 deg,
      lat: 36.779509 deg,
      lon: -121.859560 deg,
      deltaT: 4.282196 s,
      deltaX: 10.963654 m,
      approachRate: 2.560288 m/s,
      posRepo size: 4

2025-09-19T23:57:54.339Z,1758326274.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:54.354Z,1758326274.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 279.849060 m,
      bearing: 266.464213 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023213 deg/s,
      cmd heading: 257.590640 deg,
      new cmd heading: 257.572512 deg.

2025-09-19T23:57:54.355Z,1758326274.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495488 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:54.401Z,1758326274.401 [DAT](INFO): DAT read: user:616>

2025-09-19T23:57:54.402Z,1758326274.402 [DAT](INFO): DAT read: Tx time:23:57:55.7624

2025-09-19T23:57:54.402Z,1758326274.402 [DAT](INFO): Ping request sent.
2025-09-19T23:57:54.402Z,1758326274.402 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:54.403Z,1758326274.403 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:54.404Z,1758326274.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001108
2025-09-19T23:57:54.657Z,1758326274.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254565
2025-09-19T23:57:54.694Z,1758326274.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:54.697Z,1758326274.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 279.628998 m,
      bearing: 266.454301 deg,
      approach rate: -0.587864 m/s,
      LOS rate: -0.026499 deg/s,
      cmd heading: 257.572499 deg,
      new cmd heading: 257.552659 deg.

2025-09-19T23:57:54.698Z,1758326274.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495142 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:54.910Z,1758326274.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507541
2025-09-19T23:57:55.123Z,1758326275.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:55.126Z,1758326275.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:55.129Z,1758326275.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 279.392090 m,
      bearing: 266.442836 deg,
      approach rate: -0.548662 m/s,
      LOS rate: -0.026575 deg/s,
      cmd heading: 257.552664 deg,
      new cmd heading: 257.529714 deg.

2025-09-19T23:57:55.130Z,1758326275.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494741 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:55.162Z,1758326275.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759612
2025-09-19T23:57:55.413Z,1758326275.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010494
2025-09-19T23:57:55.513Z,1758326275.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:55.515Z,1758326275.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 279.179169 m,
      bearing: 266.432514 deg,
      approach rate: -0.550100 m/s,
      LOS rate: -0.026690 deg/s,
      cmd heading: 257.529715 deg,
      new cmd heading: 257.509054 deg.

2025-09-19T23:57:55.517Z,1758326275.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494381 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:55.665Z,1758326275.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262519
2025-09-19T23:57:55.917Z,1758326275.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514505
2025-09-19T23:57:56.030Z,1758326276.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:56.037Z,1758326276.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 278.900146 m,
      bearing: 266.419497 deg,
      approach rate: -0.539227 m/s,
      LOS rate: -0.025181 deg/s,
      cmd heading: 257.509060 deg,
      new cmd heading: 257.483001 deg.

2025-09-19T23:57:56.038Z,1758326276.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493926 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:56.169Z,1758326276.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766583
2025-09-19T23:57:56.415Z,1758326276.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:56.421Z,1758326276.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018589
2025-09-19T23:57:56.423Z,1758326276.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 278.688049 m,
      bearing: 266.409670 deg,
      approach rate: -0.551224 m/s,
      LOS rate: -0.025560 deg/s,
      cmd heading: 257.482996 deg,
      new cmd heading: 257.463326 deg.

2025-09-19T23:57:56.429Z,1758326276.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493583 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:56.673Z,1758326276.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270535
2025-09-19T23:57:56.857Z,1758326276.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:56.882Z,1758326276.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 278.432098 m,
      bearing: 266.397789 deg,
      approach rate: -0.578839 m/s,
      LOS rate: -0.026892 deg/s,
      cmd heading: 257.463325 deg,
      new cmd heading: 257.439542 deg.

2025-09-19T23:57:56.883Z,1758326276.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493168 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:56.926Z,1758326276.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523190
2025-09-19T23:57:57.181Z,1758326277.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778161
2025-09-19T23:57:57.220Z,1758326277.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:57.223Z,1758326277.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:57.245Z,1758326277.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 278.231750 m,
      bearing: 266.388820 deg,
      approach rate: -0.548538 m/s,
      LOS rate: -0.024573 deg/s,
      cmd heading: 257.439556 deg,
      new cmd heading: 257.421606 deg.

2025-09-19T23:57:57.246Z,1758326277.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492855 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:57.429Z,1758326277.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026727
2025-09-19T23:57:57.619Z,1758326277.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:57.622Z,1758326277.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 278.015259 m,
      bearing: 266.379162 deg,
      approach rate: -0.546227 m/s,
      LOS rate: -0.024389 deg/s,
      cmd heading: 257.421606 deg,
      new cmd heading: 257.402274 deg.

2025-09-19T23:57:57.623Z,1758326277.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492517 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:57.682Z,1758326277.682 [DAT](INFO): DAT read: Rx Time:23:57:58.5759

2025-09-19T23:57:57.682Z,1758326277.682 [DAT](INFO): Rx dataTimestamp_ set to:1758326277.681802
2025-09-19T23:57:57.683Z,1758326277.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280232
2025-09-19T23:57:57.933Z,1758326277.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530451
2025-09-19T23:57:58.048Z,1758326278.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.90 m.
2025-09-19T23:57:58.051Z,1758326278.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.902496 m,
      nav range: 277.794891 m,
      bearing: 266.369376 deg,
      approach rate: -0.513062 m/s,
      LOS rate: -0.022801 deg/s,
      cmd heading: 257.402263 deg,
      new cmd heading: 257.382676 deg.

2025-09-19T23:57:58.056Z,1758326278.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492175 target range: 307.902496 and range: 308.70 m.
2025-09-19T23:57:58.190Z,1758326278.190 [DAT](INFO): DAT read: 23:57:58.5759 LVL= 32752, 32753, 29682, 32755, AGC= 68, IDX= 413,-0.26, 0.095,-1.262, 0.046,-1.016, PHS= 1.213,-0.201, 1.017, RAW= 142.7, -28.4, CAL= 143.7, -29.5, ROT=   6.3,  29.5

2025-09-19T23:57:58.191Z,1758326278.191 [DAT](INFO): got valid direction response:
 23:57:58.5759 LVL= 32752, 32753, 29682, 32755, AGC= 68, IDX= 413,-0.26, 0.095,-1.262, 0.046,-1.016, PHS= 1.213,-0.201, 1.017, RAW= 142.7, -28.4, CAL= 143.7, -29.5, ROT=   6.3,  29.5

2025-09-19T23:57:58.192Z,1758326278.192 [DAT](INFO): DAT read: Bearing  17.0,  16.7 (Local)

2025-09-19T23:57:58.193Z,1758326278.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.0,  16.7 (Local)

2025-09-19T23:57:58.194Z,1758326278.194 [DAT](INFO): DAT read: Range 11 to 50 : 307.0 m  (Round-trip  409.4 ms) speed  0.4 m/s

2025-09-19T23:57:58.195Z,1758326278.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:57:58.196Z,1758326278.196 [DAT](INFO): direction in FSK: [0.865100,0.095508,-0.492424]
2025-09-19T23:57:58.196Z,1758326278.196 [DAT](INFO): publishing direction and range info
2025-09-19T23:57:58.199Z,1758326278.199 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:57:58.199Z,1758326278.199 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:57:58.201Z,1758326278.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:57:58.437Z,1758326278.437 [DAT](INFO): DAT read: user:617>

2025-09-19T23:57:58.438Z,1758326278.438 [DAT](INFO): DAT read: Tx time:23:57:59.7624

2025-09-19T23:57:58.438Z,1758326278.438 [DAT](INFO): Ping request sent.
2025-09-19T23:57:58.438Z,1758326278.438 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:57:58.438Z,1758326278.438 [DAT](INFO): publishing transmit ping time
2025-09-19T23:57:58.439Z,1758326278.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-09-19T23:57:58.441Z,1758326278.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 307.000000 m,
      deltaT: 4.035585 s,
      deltaX: -1.700012 m,
      approachRate: -0.421255 m/s,
      rangeRepo size: 4

2025-09-19T23:57:58.443Z,1758326278.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 306.206665 m,
      bearing: 261.163688 deg,
      lat: 36.779509 deg,
      lon: -121.859564 deg,
      deltaT: 4.035585 s,
      deltaX: -1.695831 m,
      approachRate: -0.420219 m/s,
      posRepo size: 4

2025-09-19T23:57:58.443Z,1758326278.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:57:58.462Z,1758326278.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 277.927643 m,
      bearing: 266.364431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022801 deg/s,
      cmd heading: 257.382674 deg,
      new cmd heading: 257.364826 deg.

2025-09-19T23:57:58.463Z,1758326278.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491864 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:57:58.689Z,1758326278.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251328
2025-09-19T23:57:58.941Z,1758326278.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503136
2025-09-19T23:57:58.949Z,1758326278.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:57:58.952Z,1758326278.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 277.644165 m,
      bearing: 266.354621 deg,
      approach rate: -0.556624 m/s,
      LOS rate: -0.019281 deg/s,
      cmd heading: 257.364834 deg,
      new cmd heading: 257.345194 deg.

2025-09-19T23:57:58.953Z,1758326278.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491521 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:57:59.193Z,1758326279.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768
2025-09-19T23:57:59.276Z,1758326279.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:57:59.279Z,1758326279.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:57:59.281Z,1758326279.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 277.461670 m,
      bearing: 266.348321 deg,
      approach rate: -0.553799 m/s,
      LOS rate: -0.019132 deg/s,
      cmd heading: 257.345190 deg,
      new cmd heading: 257.332581 deg.

2025-09-19T23:57:59.282Z,1758326279.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491301 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:57:59.445Z,1758326279.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006683
2025-09-19T23:57:59.682Z,1758326279.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:57:59.685Z,1758326279.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 277.239227 m,
      bearing: 266.340703 deg,
      approach rate: -0.551709 m/s,
      LOS rate: -0.018907 deg/s,
      cmd heading: 257.332568 deg,
      new cmd heading: 257.317322 deg.

2025-09-19T23:57:59.686Z,1758326279.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491035 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:57:59.697Z,1758326279.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258840
2025-09-19T23:57:59.949Z,1758326279.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511312
2025-09-19T23:58:00.121Z,1758326280.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:58:00.124Z,1758326280.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 276.994171 m,
      bearing: 266.332851 deg,
      approach rate: -0.557880 m/s,
      LOS rate: -0.017893 deg/s,
      cmd heading: 257.317323 deg,
      new cmd heading: 257.301604 deg.

2025-09-19T23:58:00.125Z,1758326280.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490760 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:58:00.201Z,1758326280.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762899
2025-09-19T23:58:00.453Z,1758326280.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014700
2025-09-19T23:58:00.494Z,1758326280.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:58:00.497Z,1758326280.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 276.786346 m,
      bearing: 266.326217 deg,
      approach rate: -0.557691 m/s,
      LOS rate: -0.017814 deg/s,
      cmd heading: 257.301614 deg,
      new cmd heading: 257.288336 deg.

2025-09-19T23:58:00.497Z,1758326280.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490529 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:58:00.706Z,1758326280.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267499
2025-09-19T23:58:00.943Z,1758326280.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:58:00.957Z,1758326280.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518820
2025-09-19T23:58:00.966Z,1758326280.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 276.539185 m,
      bearing: 266.318651 deg,
      approach rate: -0.549805 m/s,
      LOS rate: -0.016847 deg/s,
      cmd heading: 257.288336 deg,
      new cmd heading: 257.273189 deg.

2025-09-19T23:58:00.967Z,1758326280.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490264 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:58:01.209Z,1758326281.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771386
2025-09-19T23:58:01.302Z,1758326281.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:01.304Z,1758326281.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:58:01.307Z,1758326281.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 276.340973 m,
      bearing: 266.312623 deg,
      approach rate: -0.549130 m/s,
      LOS rate: -0.016711 deg/s,
      cmd heading: 257.273200 deg,
      new cmd heading: 257.261136 deg.

2025-09-19T23:58:01.309Z,1758326281.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490054 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:58:01.461Z,1758326281.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022747
2025-09-19T23:58:01.704Z,1758326281.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:58:01.707Z,1758326281.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 276.120941 m,
      bearing: 266.305951 deg,
      approach rate: -0.550396 m/s,
      LOS rate: -0.016704 deg/s,
      cmd heading: 257.261124 deg,
      new cmd heading: 257.247769 deg.

2025-09-19T23:58:01.708Z,1758326281.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489820 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:58:01.713Z,1758326281.713 [DAT](INFO): DAT read: Rx Time:23:58:02.5552

2025-09-19T23:58:01.713Z,1758326281.713 [DAT](INFO): Rx dataTimestamp_ set to:1758326281.713212
2025-09-19T23:58:01.714Z,1758326281.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275933
2025-09-19T23:58:01.965Z,1758326281.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526660
2025-09-19T23:58:02.167Z,1758326282.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.21 m.
2025-09-19T23:58:02.186Z,1758326282.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.206665 m,
      nav range: 275.869171 m,
      bearing: 266.297746 deg,
      approach rate: -0.543203 m/s,
      LOS rate: -0.017719 deg/s,
      cmd heading: 257.247764 deg,
      new cmd heading: 257.231340 deg.

2025-09-19T23:58:02.187Z,1758326282.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489534 target range: 306.206665 and range: 307.00 m.
2025-09-19T23:58:02.222Z,1758326282.222 [DAT](INFO): DAT read: 23:58:02.5552 LVL= 27952, 32753, 32754, 32755, AGC= 70, IDX= 237,-0.30,-0.118,-1.845,-0.299,-0.515, PHS= 0.499,-1.286, 0.172, RAW= 140.1,   7.5, CAL= 139.7,   8.3, ROT=  10.3,  -8.3

2025-09-19T23:58:02.223Z,1758326282.223 [DAT](INFO): got valid direction response:
 23:58:02.5552 LVL= 27952, 32753, 32754, 32755, AGC= 70, IDX= 237,-0.30,-0.118,-1.845,-0.299,-0.515, PHS= 0.499,-1.286, 0.172, RAW= 140.1,   7.5, CAL= 139.7,   8.3, ROT=  10.3,  -8.3

2025-09-19T23:58:02.225Z,1758326282.225 [DAT](INFO): DAT read: Bearing  56.4,  20.7 (Local)

2025-09-19T23:58:02.225Z,1758326282.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.4,  20.7 (Local)

2025-09-19T23:58:02.226Z,1758326282.226 [DAT](INFO): DAT read: Range 11 to 50 : 291.5 m  (Round-trip  388.7 ms) speed  0.7 m/s

2025-09-19T23:58:02.227Z,1758326282.227 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:02.228Z,1758326282.228 [DAT](INFO): direction in FSK: [0.973580,0.176929,0.144356]
2025-09-19T23:58:02.228Z,1758326282.228 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:02.231Z,1758326282.231 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:02.231Z,1758326282.231 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:02.232Z,1758326282.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:02.469Z,1758326282.469 [DAT](INFO): DAT read: user:618>

2025-09-19T23:58:02.470Z,1758326282.470 [DAT](INFO): DAT read: Tx time:23:58:03.8124

2025-09-19T23:58:02.470Z,1758326282.470 [DAT](INFO): Ping request sent.
2025-09-19T23:58:02.470Z,1758326282.470 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:02.470Z,1758326282.470 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:02.471Z,1758326282.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-09-19T23:58:02.586Z,1758326282.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 291.500000 m,
      deltaT: 4.032029 s,
      deltaX: -15.500000 m,
      approachRate: -3.844218 m/s,
      rangeRepo size: 4

2025-09-19T23:58:02.590Z,1758326282.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 290.737671 m,
      bearing: 266.733289 deg,
      lat: 36.779509 deg,
      lon: -121.859564 deg,
      deltaT: 4.032029 s,
      deltaX: -15.468994 m,
      approachRate: -3.836529 m/s,
      posRepo size: 4

2025-09-19T23:58:02.590Z,1758326282.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:02.601Z,1758326282.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 275.652893 m,
      bearing: 266.290705 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017719 deg/s,
      cmd heading: 257.231345 deg,
      new cmd heading: 257.216538 deg.

2025-09-19T23:58:02.602Z,1758326282.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489275 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:02.722Z,1758326282.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251588
2025-09-19T23:58:02.973Z,1758326282.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502956
2025-09-19T23:58:02.998Z,1758326282.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:03.017Z,1758326283.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 275.415192 m,
      bearing: 266.283600 deg,
      approach rate: -0.576243 m/s,
      LOS rate: -0.017238 deg/s,
      cmd heading: 257.216537 deg,
      new cmd heading: 257.202315 deg.

2025-09-19T23:58:03.018Z,1758326283.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489027 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:03.225Z,1758326283.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754765
2025-09-19T23:58:03.389Z,1758326283.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:03.391Z,1758326283.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:03.394Z,1758326283.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 275.198975 m,
      bearing: 266.277143 deg,
      approach rate: -0.549529 m/s,
      LOS rate: -0.016426 deg/s,
      cmd heading: 257.202303 deg,
      new cmd heading: 257.189377 deg.

2025-09-19T23:58:03.395Z,1758326283.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488801 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:03.477Z,1758326283.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006990
2025-09-19T23:58:03.729Z,1758326283.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259301
2025-09-19T23:58:03.779Z,1758326283.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:03.782Z,1758326283.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 274.985779 m,
      bearing: 266.270757 deg,
      approach rate: -0.549932 m/s,
      LOS rate: -0.016484 deg/s,
      cmd heading: 257.189380 deg,
      new cmd heading: 257.176599 deg.

2025-09-19T23:58:03.783Z,1758326283.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488578 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:03.981Z,1758326283.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510844
2025-09-19T23:58:04.234Z,1758326284.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763791
2025-09-19T23:58:04.399Z,1758326284.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:04.402Z,1758326284.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 274.646912 m,
      bearing: 266.258197 deg,
      approach rate: -0.546219 m/s,
      LOS rate: -0.020271 deg/s,
      cmd heading: 257.176594 deg,
      new cmd heading: 257.151442 deg.

2025-09-19T23:58:04.403Z,1758326284.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488139 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:04.486Z,1758326284.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015857
2025-09-19T23:58:04.737Z,1758326284.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267470
2025-09-19T23:58:04.817Z,1758326284.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:04.823Z,1758326284.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 274.422913 m,
      bearing: 266.249872 deg,
      approach rate: -0.535908 m/s,
      LOS rate: -0.019932 deg/s,
      cmd heading: 257.151431 deg,
      new cmd heading: 257.134769 deg.

2025-09-19T23:58:04.824Z,1758326284.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487848 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:04.989Z,1758326284.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519295
2025-09-19T23:58:05.241Z,1758326285.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771005
2025-09-19T23:58:05.274Z,1758326285.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:05.280Z,1758326285.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 274.189911 m,
      bearing: 266.240425 deg,
      approach rate: -0.510658 m/s,
      LOS rate: -0.020723 deg/s,
      cmd heading: 257.134766 deg,
      new cmd heading: 257.115855 deg.

2025-09-19T23:58:05.281Z,1758326285.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487518 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:05.493Z,1758326285.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022780
2025-09-19T23:58:05.665Z,1758326285.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:05.667Z,1758326285.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:05.669Z,1758326285.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 273.970764 m,
      bearing: 266.231509 deg,
      approach rate: -0.557506 m/s,
      LOS rate: -0.022700 deg/s,
      cmd heading: 257.115860 deg,
      new cmd heading: 257.098013 deg.

2025-09-19T23:58:05.670Z,1758326285.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487207 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:05.746Z,1758326285.746 [DAT](INFO): DAT read: Rx Time:23:58:06.6024

2025-09-19T23:58:05.747Z,1758326285.747 [DAT](INFO): Rx dataTimestamp_ set to:1758326285.746335
2025-09-19T23:58:05.748Z,1758326285.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277504
2025-09-19T23:58:06.001Z,1758326286.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530935
2025-09-19T23:58:06.089Z,1758326286.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.74 m.
2025-09-19T23:58:06.092Z,1758326286.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.737671 m,
      nav range: 273.745422 m,
      bearing: 266.222037 deg,
      approach rate: -0.533081 m/s,
      LOS rate: -0.022426 deg/s,
      cmd heading: 257.098019 deg,
      new cmd heading: 257.079060 deg.

2025-09-19T23:58:06.093Z,1758326286.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486876 target range: 290.737671 and range: 291.50 m.
2025-09-19T23:58:06.258Z,1758326286.258 [DAT](INFO): DAT read: 23:58:06.6024 LVL= 31616, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.13,-0.794,-2.491,-0.946,-1.118, PHS= 0.426,-1.328, 0.128, RAW= 140.9,   9.6, CAL= 140.4,  10.4, ROT=   9.6, -10.4

2025-09-19T23:58:06.259Z,1758326286.259 [DAT](INFO): got valid direction response:
 23:58:06.6024 LVL= 31616, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.13,-0.794,-2.491,-0.946,-1.118, PHS= 0.426,-1.328, 0.128, RAW= 140.9,   9.6, CAL= 140.4,  10.4, ROT=   9.6, -10.4

2025-09-19T23:58:06.260Z,1758326286.260 [DAT](INFO): DAT read: Bearing  58.5,  18.8 (Local)

2025-09-19T23:58:06.261Z,1758326286.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.5,  18.8 (Local)

2025-09-19T23:58:06.262Z,1758326286.262 [DAT](INFO): DAT read: Range 11 to 50 : 289.4 m  (Round-trip  385.9 ms) speed  0.6 m/s

2025-09-19T23:58:06.262Z,1758326286.262 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:06.263Z,1758326286.263 [DAT](INFO): direction in FSK: [0.969798,0.164029,0.180519]
2025-09-19T23:58:06.299Z,1758326286.299 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:06.309Z,1758326286.309 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:06.309Z,1758326286.309 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:06.310Z,1758326286.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:06.450Z,1758326286.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 289.399994 m,
      deltaT: 4.035825 s,
      deltaX: -2.100006 m,
      approachRate: -0.520341 m/s,
      rangeRepo size: 4

2025-09-19T23:58:06.452Z,1758326286.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.642151 m,
      bearing: 266.102768 deg,
      lat: 36.779509 deg,
      lon: -121.859560 deg,
      deltaT: 4.035825 s,
      deltaX: -2.095520 m,
      approachRate: -0.519230 m/s,
      posRepo size: 4

2025-09-19T23:58:06.453Z,1758326286.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:06.455Z,1758326286.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 273.174988 m,
      bearing: 266.208755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022426 deg/s,
      cmd heading: 257.079059 deg,
      new cmd heading: 257.062921 deg.

2025-09-19T23:58:06.463Z,1758326286.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486594 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:06.505Z,1758326286.505 [DAT](INFO): DAT read: user:619>

2025-09-19T23:58:06.506Z,1758326286.506 [DAT](INFO): DAT read: Tx time:23:58:07.9124

2025-09-19T23:58:06.506Z,1758326286.506 [DAT](INFO): Ping request sent.
2025-09-19T23:58:06.506Z,1758326286.506 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:06.506Z,1758326286.506 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:06.507Z,1758326286.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-09-19T23:58:06.757Z,1758326286.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251391
2025-09-19T23:58:06.850Z,1758326286.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:06.853Z,1758326286.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 272.959656 m,
      bearing: 266.199647 deg,
      approach rate: -0.537600 m/s,
      LOS rate: -0.022758 deg/s,
      cmd heading: 257.062912 deg,
      new cmd heading: 257.044681 deg.

2025-09-19T23:58:06.853Z,1758326286.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486276 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:07.009Z,1758326287.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502946
2025-09-19T23:58:07.261Z,1758326287.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754894
2025-09-19T23:58:07.270Z,1758326287.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:07.293Z,1758326287.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 272.735046 m,
      bearing: 266.189912 deg,
      approach rate: -0.534006 m/s,
      LOS rate: -0.023164 deg/s,
      cmd heading: 257.044689 deg,
      new cmd heading: 257.025203 deg.

2025-09-19T23:58:07.294Z,1758326287.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485936 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:07.514Z,1758326287.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007397
2025-09-19T23:58:07.656Z,1758326287.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:07.659Z,1758326287.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 272.524109 m,
      bearing: 266.180744 deg,
      approach rate: -0.546333 m/s,
      LOS rate: -0.023764 deg/s,
      cmd heading: 257.025209 deg,
      new cmd heading: 257.006859 deg.

2025-09-19T23:58:07.660Z,1758326287.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485616 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:07.765Z,1758326287.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258927
2025-09-19T23:58:08.021Z,1758326288.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514677
2025-09-19T23:58:08.086Z,1758326288.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:08.088Z,1758326288.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:08.091Z,1758326288.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 272.282837 m,
      bearing: 266.170788 deg,
      approach rate: -0.559116 m/s,
      LOS rate: -0.023093 deg/s,
      cmd heading: 257.006850 deg,
      new cmd heading: 256.986919 deg.

2025-09-19T23:58:08.093Z,1758326288.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485268 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:08.273Z,1758326288.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766881
2025-09-19T23:58:08.281Z,1758326288.281 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:58:08.466Z,1758326288.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:08.469Z,1758326288.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 272.070831 m,
      bearing: 266.162028 deg,
      approach rate: -0.560578 m/s,
      LOS rate: -0.023180 deg/s,
      cmd heading: 256.986933 deg,
      new cmd heading: 256.969400 deg.

2025-09-19T23:58:08.470Z,1758326288.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484962 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:08.526Z,1758326288.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019457
2025-09-19T23:58:08.777Z,1758326288.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271093
2025-09-19T23:58:08.895Z,1758326288.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:08.898Z,1758326288.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 271.839111 m,
      bearing: 266.152439 deg,
      approach rate: -0.540034 m/s,
      LOS rate: -0.022368 deg/s,
      cmd heading: 256.969393 deg,
      new cmd heading: 256.950198 deg.

2025-09-19T23:58:08.899Z,1758326288.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484627 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:09.029Z,1758326289.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523233
2025-09-19T23:58:09.282Z,1758326289.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775451
2025-09-19T23:58:09.284Z,1758326289.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:58:09.389Z,1758326289.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:09.391Z,1758326289.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 271.559784 m,
      bearing: 266.142306 deg,
      approach rate: -0.566099 m/s,
      LOS rate: -0.020557 deg/s,
      cmd heading: 256.950187 deg,
      new cmd heading: 256.929900 deg.

2025-09-19T23:58:09.392Z,1758326289.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484272 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:09.533Z,1758326289.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026755
2025-09-19T23:58:09.768Z,1758326289.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:09.771Z,1758326289.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 271.350555 m,
      bearing: 266.134714 deg,
      approach rate: -0.550943 m/s,
      LOS rate: -0.020007 deg/s,
      cmd heading: 256.929887 deg,
      new cmd heading: 256.914692 deg.

2025-09-19T23:58:09.772Z,1758326289.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484007 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:09.785Z,1758326289.785 [DAT](INFO): DAT read: Rx Time:23:58:10.7174

2025-09-19T23:58:09.785Z,1758326289.785 [DAT](INFO): Rx dataTimestamp_ set to:1758326289.785212
2025-09-19T23:58:09.786Z,1758326289.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279973
2025-09-19T23:58:10.039Z,1758326290.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532927
2025-09-19T23:58:10.294Z,1758326290.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787458
2025-09-19T23:58:10.333Z,1758326290.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:10.335Z,1758326290.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.64 m.
2025-09-19T23:58:10.342Z,1758326290.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.642151 m,
      nav range: 271.056610 m,
      bearing: 266.125028 deg,
      approach rate: -0.518317 m/s,
      LOS rate: -0.017098 deg/s,
      cmd heading: 256.914697 deg,
      new cmd heading: 256.895303 deg.

2025-09-19T23:58:10.343Z,1758326290.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483669 target range: 288.642151 and range: 289.40 m.
2025-09-19T23:58:10.551Z,1758326290.551 [DAT](INFO): DAT read: 23:58:10.7174 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=  90,-0.21,-2.524, 1.974,-2.713,-2.896, PHS= 0.474,-1.368, 0.139, RAW= 140.2,   8.9, CAL= 139.7,   9.8, ROT=  10.3,  -9.8

2025-09-19T23:58:10.558Z,1758326290.558 [DAT](INFO): got valid direction response:
 23:58:10.7174 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=  90,-0.21,-2.524, 1.974,-2.713,-2.896, PHS= 0.474,-1.368, 0.139, RAW= 140.2,   8.9, CAL= 139.7,   9.8, ROT=  10.3,  -9.8

2025-09-19T23:58:10.559Z,1758326290.559 [DAT](INFO): DAT read: Bearing  57.6,  18.1 (Local)

2025-09-19T23:58:10.559Z,1758326290.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.6,  18.1 (Local)

2025-09-19T23:58:10.561Z,1758326290.561 [DAT](INFO): DAT read: Range 11 to 50 : 300.6 m  (Round-trip  400.9 ms) speed  0.4 m/s

2025-09-19T23:58:10.561Z,1758326290.561 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:10.562Z,1758326290.562 [DAT](INFO): direction in FSK: [0.969528,0.176193,0.170209]
2025-09-19T23:58:10.562Z,1758326290.562 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:10.566Z,1758326290.566 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:10.566Z,1758326290.566 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:10.566Z,1758326290.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:10.797Z,1758326290.797 [DAT](INFO): DAT read: user:620>

2025-09-19T23:58:10.798Z,1758326290.798 [DAT](INFO): DAT read: Tx time:23:58:12.1624

2025-09-19T23:58:10.799Z,1758326290.799 [DAT](INFO): Ping request sent.
2025-09-19T23:58:10.799Z,1758326290.799 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:10.799Z,1758326290.799 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:10.799Z,1758326290.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-09-19T23:58:10.861Z,1758326290.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.600006 m,
      deltaT: 4.288399 s,
      deltaX: 11.200012 m,
      approachRate: 2.611700 m/s,
      rangeRepo size: 4

2025-09-19T23:58:10.863Z,1758326290.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.813782 m,
      bearing: 266.673304 deg,
      lat: 36.779523 deg,
      lon: -121.859690 deg,
      deltaT: 4.288399 s,
      deltaX: 11.171631 m,
      approachRate: 2.605082 m/s,
      posRepo size: 4

2025-09-19T23:58:10.870Z,1758326290.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:10.881Z,1758326290.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 282.208099 m,
      bearing: 266.590586 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017098 deg/s,
      cmd heading: 256.895299 deg,
      new cmd heading: 256.877342 deg.

2025-09-19T23:58:10.882Z,1758326290.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483356 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:11.049Z,1758326291.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250251
2025-09-19T23:58:11.253Z,1758326291.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:11.256Z,1758326291.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 281.984558 m,
      bearing: 266.584452 deg,
      approach rate: -0.569455 m/s,
      LOS rate: -0.015637 deg/s,
      cmd heading: 256.877349 deg,
      new cmd heading: 256.865072 deg.

2025-09-19T23:58:11.257Z,1758326291.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483141 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:11.299Z,1758326291.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500509
2025-09-19T23:58:11.549Z,1758326291.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750042
2025-09-19T23:58:11.635Z,1758326291.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:11.638Z,1758326291.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 281.778046 m,
      bearing: 266.578769 deg,
      approach rate: -0.541469 m/s,
      LOS rate: -0.014911 deg/s,
      cmd heading: 256.865082 deg,
      new cmd heading: 256.853708 deg.

2025-09-19T23:58:11.639Z,1758326291.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482943 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:11.802Z,1758326291.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003286
2025-09-19T23:58:12.057Z,1758326292.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257725
2025-09-19T23:58:12.125Z,1758326292.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:12.128Z,1758326292.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 281.517242 m,
      bearing: 266.571732 deg,
      approach rate: -0.531687 m/s,
      LOS rate: -0.014360 deg/s,
      cmd heading: 256.853717 deg,
      new cmd heading: 256.839629 deg.

2025-09-19T23:58:12.129Z,1758326292.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482697 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:12.306Z,1758326292.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507081
2025-09-19T23:58:12.447Z,1758326292.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:12.449Z,1758326292.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:12.452Z,1758326292.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 281.345184 m,
      bearing: 266.567070 deg,
      approach rate: -0.530947 m/s,
      LOS rate: -0.014394 deg/s,
      cmd heading: 256.839620 deg,
      new cmd heading: 256.830291 deg.

2025-09-19T23:58:12.453Z,1758326292.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482534 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:12.557Z,1758326292.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758232
2025-09-19T23:58:12.810Z,1758326292.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010580
2025-09-19T23:58:12.853Z,1758326292.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:12.856Z,1758326292.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 281.129883 m,
      bearing: 266.561206 deg,
      approach rate: -0.532628 m/s,
      LOS rate: -0.014519 deg/s,
      cmd heading: 256.830303 deg,
      new cmd heading: 256.818565 deg.

2025-09-19T23:58:12.857Z,1758326292.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482329 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:13.063Z,1758326293.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264169
2025-09-19T23:58:13.298Z,1758326293.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:13.314Z,1758326293.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515458
2025-09-19T23:58:13.321Z,1758326293.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 280.909882 m,
      bearing: 266.555579 deg,
      approach rate: -0.495190 m/s,
      LOS rate: -0.012675 deg/s,
      cmd heading: 256.818555 deg,
      new cmd heading: 256.807293 deg.

2025-09-19T23:58:13.322Z,1758326293.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482133 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:13.568Z,1758326293.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768927
2025-09-19T23:58:13.700Z,1758326293.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:13.703Z,1758326293.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 280.682983 m,
      bearing: 266.549742 deg,
      approach rate: -0.563379 m/s,
      LOS rate: -0.014505 deg/s,
      cmd heading: 256.807299 deg,
      new cmd heading: 256.795615 deg.

2025-09-19T23:58:13.704Z,1758326293.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481929 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:13.818Z,1758326293.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018768
2025-09-19T23:58:14.073Z,1758326294.073 [DAT](INFO): DAT read: Rx Time:23:58:14.9650

2025-09-19T23:58:14.075Z,1758326294.075 [DAT](INFO): Rx dataTimestamp_ set to:1758326294.073670
2025-09-19T23:58:14.076Z,1758326294.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277252
2025-09-19T23:58:14.181Z,1758326294.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:14.183Z,1758326294.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 280.427551 m,
      bearing: 266.542949 deg,
      approach rate: -0.531615 m/s,
      LOS rate: -0.014152 deg/s,
      cmd heading: 256.795606 deg,
      new cmd heading: 256.782006 deg.

2025-09-19T23:58:14.197Z,1758326294.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481691 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:14.321Z,1758326294.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522166
2025-09-19T23:58:14.581Z,1758326294.581 [DAT](INFO): DAT read: 23:58:14.9650 LVL= 25136, 32753, 27874, 32755, AGC= 67, IDX= 413,-0.16,-0.211,-1.689,-0.227,-1.168, PHS= 1.059,-0.476, 0.897, RAW= 144.5, -19.7, CAL= 145.6, -22.3, ROT=   4.4,  22.3

2025-09-19T23:58:14.582Z,1758326294.582 [DAT](INFO): got valid direction response:
 23:58:14.9650 LVL= 25136, 32753, 27874, 32755, AGC= 67, IDX= 413,-0.16,-0.211,-1.689,-0.227,-1.168, PHS= 1.059,-0.476, 0.897, RAW= 144.5, -19.7, CAL= 145.6, -22.3, ROT=   4.4,  22.3

2025-09-19T23:58:14.583Z,1758326294.583 [DAT](INFO): DAT read: $Error in header

2025-09-19T23:58:14.583Z,1758326294.583 [DAT](INFO): Received a bad header
2025-09-19T23:58:14.596Z,1758326294.596 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-19T23:58:14.597Z,1758326294.597 [DAT](INFO): direction in FSK: [0.922483,0.070981,-0.379456]
2025-09-19T23:58:14.601Z,1758326294.601 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:14.601Z,1758326294.601 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:14.601Z,1758326294.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:14.610Z,1758326294.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:14.616Z,1758326294.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:14.618Z,1758326294.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 280.229706 m,
      bearing: 266.537653 deg,
      approach rate: -0.459270 m/s,
      LOS rate: -0.012302 deg/s,
      cmd heading: 256.782000 deg,
      new cmd heading: 256.771401 deg.

2025-09-19T23:58:14.619Z,1758326294.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481506 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:14.825Z,1758326294.825 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:14.825Z,1758326294.825 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:14.825Z,1758326294.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:14.950Z,1758326294.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:14.954Z,1758326294.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 280.019012 m,
      bearing: 266.531974 deg,
      approach rate: -0.623051 m/s,
      LOS rate: -0.016806 deg/s,
      cmd heading: 256.771400 deg,
      new cmd heading: 256.760033 deg.

2025-09-19T23:58:14.955Z,1758326294.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481308 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:15.079Z,1758326295.079 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:15.079Z,1758326295.079 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:15.080Z,1758326295.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:15.329Z,1758326295.329 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:15.329Z,1758326295.329 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:15.329Z,1758326295.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:15.405Z,1758326295.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:15.407Z,1758326295.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 279.776611 m,
      bearing: 266.524614 deg,
      approach rate: -0.533780 m/s,
      LOS rate: -0.016220 deg/s,
      cmd heading: 256.760034 deg,
      new cmd heading: 256.745302 deg.

2025-09-19T23:58:15.409Z,1758326295.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481051 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:15.581Z,1758326295.581 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:15.581Z,1758326295.581 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:15.581Z,1758326295.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:15.797Z,1758326295.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:15.803Z,1758326295.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 279.582123 m,
      bearing: 266.518678 deg,
      approach rate: -0.494931 m/s,
      LOS rate: -0.015116 deg/s,
      cmd heading: 256.745308 deg,
      new cmd heading: 256.733429 deg.

2025-09-19T23:58:15.805Z,1758326295.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480844 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:15.833Z,1758326295.833 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:15.833Z,1758326295.833 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:15.833Z,1758326295.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:16.087Z,1758326296.087 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:16.087Z,1758326296.087 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:16.087Z,1758326296.087 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:16.235Z,1758326296.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:16.238Z,1758326296.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 279.322418 m,
      bearing: 266.509573 deg,
      approach rate: -0.592972 m/s,
      LOS rate: -0.020808 deg/s,
      cmd heading: 256.733424 deg,
      new cmd heading: 256.715197 deg.

2025-09-19T23:58:16.239Z,1758326296.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480525 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:16.337Z,1758326296.337 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:16.338Z,1758326296.338 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:16.338Z,1758326296.338 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:16.589Z,1758326296.589 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:16.589Z,1758326296.589 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:16.589Z,1758326296.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:16.621Z,1758326296.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:16.623Z,1758326296.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:16.634Z,1758326296.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 279.133392 m,
      bearing: 266.502911 deg,
      approach rate: -0.486347 m/s,
      LOS rate: -0.017152 deg/s,
      cmd heading: 256.715201 deg,
      new cmd heading: 256.701868 deg.

2025-09-19T23:58:16.635Z,1758326296.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480293 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:16.841Z,1758326296.841 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:16.841Z,1758326296.841 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:16.841Z,1758326296.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:16.986Z,1758326296.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:16.989Z,1758326296.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 278.905151 m,
      bearing: 266.494846 deg,
      approach rate: -0.630105 m/s,
      LOS rate: -0.022284 deg/s,
      cmd heading: 256.701868 deg,
      new cmd heading: 256.685724 deg.

2025-09-19T23:58:16.990Z,1758326296.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480011 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:17.097Z,1758326297.097 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:17.098Z,1758326297.098 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:17.098Z,1758326297.098 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:17.345Z,1758326297.345 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:17.345Z,1758326297.345 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:17.345Z,1758326297.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:17.434Z,1758326297.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:17.449Z,1758326297.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 278.648193 m,
      bearing: 266.484652 deg,
      approach rate: -0.573594 m/s,
      LOS rate: -0.022777 deg/s,
      cmd heading: 256.685722 deg,
      new cmd heading: 256.665314 deg.

2025-09-19T23:58:17.450Z,1758326297.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479655 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:17.597Z,1758326297.597 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:17.597Z,1758326297.597 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:17.597Z,1758326297.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:17.847Z,1758326297.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:17.849Z,1758326297.849 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:17.849Z,1758326297.849 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:17.849Z,1758326297.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:17.852Z,1758326297.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 278.410492 m,
      bearing: 266.475225 deg,
      approach rate: -0.574501 m/s,
      LOS rate: -0.022802 deg/s,
      cmd heading: 256.665313 deg,
      new cmd heading: 256.646444 deg.

2025-09-19T23:58:17.853Z,1758326297.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479325 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:18.101Z,1758326298.101 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:18.101Z,1758326298.101 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:18.101Z,1758326298.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:18.310Z,1758326298.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:18.317Z,1758326298.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 278.177246 m,
      bearing: 266.463055 deg,
      approach rate: -0.504541 m/s,
      LOS rate: -0.026349 deg/s,
      cmd heading: 256.646434 deg,
      new cmd heading: 256.622073 deg.

2025-09-19T23:58:18.318Z,1758326298.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478900 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:18.353Z,1758326298.353 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:18.353Z,1758326298.353 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:18.353Z,1758326298.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:18.605Z,1758326298.605 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:18.605Z,1758326298.605 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:18.605Z,1758326298.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:18.729Z,1758326298.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:18.732Z,1758326298.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:18.737Z,1758326298.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 277.939697 m,
      bearing: 266.450637 deg,
      approach rate: -0.562976 m/s,
      LOS rate: -0.029455 deg/s,
      cmd heading: 256.622064 deg,
      new cmd heading: 256.597207 deg.

2025-09-19T23:58:18.738Z,1758326298.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478466 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:18.857Z,1758326298.857 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:18.857Z,1758326298.857 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:18.857Z,1758326298.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:19.111Z,1758326299.111 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:19.111Z,1758326299.111 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:19.111Z,1758326299.111 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:19.261Z,1758326299.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:19.263Z,1758326299.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 277.640381 m,
      bearing: 266.438551 deg,
      approach rate: -0.566756 m/s,
      LOS rate: -0.022909 deg/s,
      cmd heading: 256.597202 deg,
      new cmd heading: 256.573005 deg.

2025-09-19T23:58:19.265Z,1758326299.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478044 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:19.361Z,1758326299.361 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:19.361Z,1758326299.361 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:19.361Z,1758326299.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:19.613Z,1758326299.613 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:19.613Z,1758326299.613 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:19.613Z,1758326299.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:19.633Z,1758326299.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:19.640Z,1758326299.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 277.440521 m,
      bearing: 266.430492 deg,
      approach rate: -0.535509 m/s,
      LOS rate: -0.021609 deg/s,
      cmd heading: 256.572996 deg,
      new cmd heading: 256.556867 deg.

2025-09-19T23:58:19.641Z,1758326299.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477762 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:19.866Z,1758326299.866 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:19.866Z,1758326299.866 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:19.867Z,1758326299.867 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:20.026Z,1758326300.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:20.029Z,1758326300.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 277.233185 m,
      bearing: 266.422146 deg,
      approach rate: -0.527760 m/s,
      LOS rate: -0.021260 deg/s,
      cmd heading: 256.556877 deg,
      new cmd heading: 256.540172 deg.

2025-09-19T23:58:20.030Z,1758326300.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477471 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:20.118Z,1758326300.118 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:20.118Z,1758326300.118 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:20.119Z,1758326300.119 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:20.372Z,1758326300.372 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:20.372Z,1758326300.372 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:20.372Z,1758326300.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:20.553Z,1758326300.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:20.556Z,1758326300.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 276.933655 m,
      bearing: 266.409983 deg,
      approach rate: -0.567803 m/s,
      LOS rate: -0.023081 deg/s,
      cmd heading: 256.540184 deg,
      new cmd heading: 256.515832 deg.

2025-09-19T23:58:20.557Z,1758326300.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477046 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:20.621Z,1758326300.621 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:20.622Z,1758326300.622 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:20.622Z,1758326300.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:58:20.873Z,1758326300.873 [DAT](INFO): Reached modem response timeout
2025-09-19T23:58:20.873Z,1758326300.873 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:20.873Z,1758326300.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:20.921Z,1758326300.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:20.923Z,1758326300.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:20.926Z,1758326300.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 276.732391 m,
      bearing: 266.401803 deg,
      approach rate: -0.544924 m/s,
      LOS rate: -0.022164 deg/s,
      cmd heading: 256.515841 deg,
      new cmd heading: 256.499469 deg.

2025-09-19T23:58:20.927Z,1758326300.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476760 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:21.126Z,1758326301.126 [DAT](INFO): DAT read: 

2025-09-19T23:58:21.127Z,1758326301.127 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:21.377Z,1758326301.377 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:21.433Z,1758326301.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:21.435Z,1758326301.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 276.469116 m,
      bearing: 266.392782 deg,
      approach rate: -0.516218 m/s,
      LOS rate: -0.017706 deg/s,
      cmd heading: 256.499476 deg,
      new cmd heading: 256.481416 deg.

2025-09-19T23:58:21.441Z,1758326301.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476445 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:21.629Z,1758326301.629 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:21.815Z,1758326301.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:21.818Z,1758326301.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 276.271637 m,
      bearing: 266.386000 deg,
      approach rate: -0.516117 m/s,
      LOS rate: -0.017737 deg/s,
      cmd heading: 256.481417 deg,
      new cmd heading: 256.467844 deg.

2025-09-19T23:58:21.819Z,1758326301.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476208 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:21.881Z,1758326301.881 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:22.133Z,1758326302.133 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:22.279Z,1758326302.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:22.284Z,1758326302.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 276.041534 m,
      bearing: 266.378996 deg,
      approach rate: -0.497402 m/s,
      LOS rate: -0.015154 deg/s,
      cmd heading: 256.467839 deg,
      new cmd heading: 256.453818 deg.

2025-09-19T23:58:22.286Z,1758326302.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475964 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:22.386Z,1758326302.386 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:22.637Z,1758326302.637 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:22.650Z,1758326302.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:22.657Z,1758326302.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 275.851440 m,
      bearing: 266.373191 deg,
      approach rate: -0.510573 m/s,
      LOS rate: -0.015602 deg/s,
      cmd heading: 256.453823 deg,
      new cmd heading: 256.442206 deg.

2025-09-19T23:58:22.658Z,1758326302.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475761 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:22.892Z,1758326302.892 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:23.033Z,1758326303.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:23.036Z,1758326303.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:23.038Z,1758326303.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 275.655701 m,
      bearing: 266.367181 deg,
      approach rate: -0.508059 m/s,
      LOS rate: -0.015609 deg/s,
      cmd heading: 256.442212 deg,
      new cmd heading: 256.430184 deg.

2025-09-19T23:58:23.039Z,1758326303.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475551 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:23.142Z,1758326303.142 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:58:23.142Z,1758326303.142 [DAT](INFO): response not received
2025-09-19T23:58:23.143Z,1758326303.143 [DAT](INFO): DAT read: user:622>Tx time:23:58:24.6123

2025-09-19T23:58:23.144Z,1758326303.144 [DAT](ERROR): No response from remote modem.
2025-09-19T23:58:23.144Z,1758326303.144 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:23.145Z,1758326303.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:23.393Z,1758326303.393 [DAT](INFO): DAT read: 

2025-09-19T23:58:23.393Z,1758326303.393 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:23.471Z,1758326303.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:23.473Z,1758326303.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 275.438324 m,
      bearing: 266.360071 deg,
      approach rate: -0.499825 m/s,
      LOS rate: -0.016362 deg/s,
      cmd heading: 256.430191 deg,
      new cmd heading: 256.415958 deg.

2025-09-19T23:58:23.474Z,1758326303.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475303 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:23.614Z,1758326303.614 [CTD_Seabird](ERROR): Failed to parse device response: 64.68,11.9518,33336.36
2025-09-19T23:58:23.648Z,1758326303.648 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:23.849Z,1758326303.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:23.851Z,1758326303.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 275.251068 m,
      bearing: 266.353866 deg,
      approach rate: -0.494884 m/s,
      LOS rate: -0.016410 deg/s,
      cmd heading: 256.415957 deg,
      new cmd heading: 256.403538 deg.

2025-09-19T23:58:23.853Z,1758326303.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475086 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:23.897Z,1758326303.897 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:24.149Z,1758326304.149 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:24.324Z,1758326304.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:24.326Z,1758326304.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 275.009613 m,
      bearing: 266.346097 deg,
      approach rate: -0.508677 m/s,
      LOS rate: -0.016381 deg/s,
      cmd heading: 256.403526 deg,
      new cmd heading: 256.387974 deg.

2025-09-19T23:58:24.327Z,1758326304.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474814 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:24.401Z,1758326304.401 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:24.653Z,1758326304.653 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:24.666Z,1758326304.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:24.670Z,1758326304.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 274.835907 m,
      bearing: 266.340461 deg,
      approach rate: -0.506894 m/s,
      LOS rate: -0.016458 deg/s,
      cmd heading: 256.387980 deg,
      new cmd heading: 256.376700 deg.

2025-09-19T23:58:24.671Z,1758326304.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474617 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:24.905Z,1758326304.905 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:25.074Z,1758326305.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:25.076Z,1758326305.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:25.078Z,1758326305.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 274.628662 m,
      bearing: 266.333725 deg,
      approach rate: -0.506252 m/s,
      LOS rate: -0.016465 deg/s,
      cmd heading: 256.376697 deg,
      new cmd heading: 256.363216 deg.

2025-09-19T23:58:25.079Z,1758326305.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474382 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:25.157Z,1758326305.157 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:25.409Z,1758326305.409 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:25.480Z,1758326305.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:25.483Z,1758326305.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 274.415802 m,
      bearing: 266.326932 deg,
      approach rate: -0.526384 m/s,
      LOS rate: -0.016813 deg/s,
      cmd heading: 256.363227 deg,
      new cmd heading: 256.349630 deg.

2025-09-19T23:58:25.484Z,1758326305.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474145 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:25.661Z,1758326305.661 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:25.862Z,1758326305.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:25.865Z,1758326305.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 274.215576 m,
      bearing: 266.320507 deg,
      approach rate: -0.523859 m/s,
      LOS rate: -0.016820 deg/s,
      cmd heading: 256.349622 deg,
      new cmd heading: 256.336764 deg.

2025-09-19T23:58:25.866Z,1758326305.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473920 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:25.913Z,1758326305.913 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:26.165Z,1758326306.165 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:26.344Z,1758326306.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:26.347Z,1758326306.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 273.953247 m,
      bearing: 266.312105 deg,
      approach rate: -0.544450 m/s,
      LOS rate: -0.017455 deg/s,
      cmd heading: 256.336754 deg,
      new cmd heading: 256.319933 deg.

2025-09-19T23:58:26.348Z,1758326306.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473627 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:26.417Z,1758326306.417 [DAT](INFO): DAT read: Rx Time:23:58:27.4074

2025-09-19T23:58:26.418Z,1758326306.418 [DAT](INFO): Rx dataTimestamp_ set to:1758326306.417340
2025-09-19T23:58:26.418Z,1758326306.418 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:26.669Z,1758326306.669 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:26.694Z,1758326306.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:26.701Z,1758326306.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 273.767944 m,
      bearing: 266.306136 deg,
      approach rate: -0.529921 m/s,
      LOS rate: -0.017083 deg/s,
      cmd heading: 256.319924 deg,
      new cmd heading: 256.307977 deg.

2025-09-19T23:58:26.702Z,1758326306.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473418 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:26.921Z,1758326306.921 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:27.109Z,1758326307.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:27.111Z,1758326307.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.81 m.
2025-09-19T23:58:27.137Z,1758326307.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.813782 m,
      nav range: 273.554993 m,
      bearing: 266.299254 deg,
      approach rate: -0.510664 m/s,
      LOS rate: -0.016515 deg/s,
      cmd heading: 256.307985 deg,
      new cmd heading: 256.294211 deg.

2025-09-19T23:58:27.138Z,1758326307.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473178 target range: 299.813782 and range: 300.60 m.
2025-09-19T23:58:27.179Z,1758326307.179 [DAT](INFO): DAT read: 23:58:27.4074 LVL= 25296, 28385, 25906, 32755, AGC= 70, IDX= 368,-0.13,-1.579,-3.008,-1.655,-2.358, PHS= 0.881,-0.605, 0.659, RAW= 142.0, -13.4, CAL= 142.4, -16.0, ROT=   7.6,  16.0

2025-09-19T23:58:27.180Z,1758326307.180 [DAT](INFO): got valid direction response:
 23:58:27.4074 LVL= 25296, 28385, 25906, 32755, AGC= 70, IDX= 368,-0.13,-1.579,-3.008,-1.655,-2.358, PHS= 0.881,-0.605, 0.659, RAW= 142.0, -13.4, CAL= 142.4, -16.0, ROT=   7.6,  16.0

2025-09-19T23:58:27.181Z,1758326307.181 [DAT](INFO): DAT read: Bearing  31.3,   8.4 (Local)

2025-09-19T23:58:27.181Z,1758326307.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.3,   8.4 (Local)

2025-09-19T23:58:27.183Z,1758326307.183 [DAT](INFO): DAT read: Range 11 to 50 : 293.2 m  (Round-trip  391.0 ms) speed  0.4 m/s

2025-09-19T23:58:27.184Z,1758326307.184 [DAT](INFO): DAT read: Tx time:23:58:28.4716

2025-09-19T23:58:27.184Z,1758326307.184 [DAT](INFO): Ping request sent.
2025-09-19T23:58:27.184Z,1758326307.184 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:27.185Z,1758326307.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:27.186Z,1758326307.186 [DAT](INFO): direction in FSK: [0.952818,0.127133,-0.275637]
2025-09-19T23:58:27.186Z,1758326307.186 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:27.188Z,1758326307.188 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:27.191Z,1758326307.191 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:27.192Z,1758326307.192 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:27.642Z,1758326307.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.200012 m,
      deltaT: 16.631883 s,
      deltaX: -7.399994 m,
      approachRate: -0.444928 m/s,
      rangeRepo size: 4

2025-09-19T23:58:27.648Z,1758326307.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 292.430420 m,
      bearing: 263.779192 deg,
      lat: 36.779506 deg,
      lon: -121.859690 deg,
      deltaT: 16.631883 s,
      deltaX: -7.383362 m,
      approachRate: -0.443928 m/s,
      posRepo size: 4

2025-09-19T23:58:27.649Z,1758326307.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:27.651Z,1758326307.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 273.405670 m,
      bearing: 265.879604 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016515 deg/s,
      cmd heading: 256.294215 deg,
      new cmd heading: 256.276701 deg.

2025-09-19T23:58:27.656Z,1758326307.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472872 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:27.995Z,1758326307.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:27.998Z,1758326307.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 273.197662 m,
      bearing: 265.871567 deg,
      approach rate: -0.586825 m/s,
      LOS rate: -0.022690 deg/s,
      cmd heading: 256.276703 deg,
      new cmd heading: 256.260617 deg.

2025-09-19T23:58:27.999Z,1758326307.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472591 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:28.437Z,1758326308.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:28.440Z,1758326308.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 272.950195 m,
      bearing: 265.861586 deg,
      approach rate: -0.560420 m/s,
      LOS rate: -0.022626 deg/s,
      cmd heading: 256.260611 deg,
      new cmd heading: 256.240629 deg.

2025-09-19T23:58:28.441Z,1758326308.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472243 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:28.806Z,1758326308.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:28.809Z,1758326308.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 272.746613 m,
      bearing: 265.853387 deg,
      approach rate: -0.551769 m/s,
      LOS rate: -0.022237 deg/s,
      cmd heading: 256.240639 deg,
      new cmd heading: 256.224230 deg.

2025-09-19T23:58:28.810Z,1758326308.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471956 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:29.192Z,1758326309.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:29.194Z,1758326309.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:29.209Z,1758326309.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 272.534271 m,
      bearing: 265.844852 deg,
      approach rate: -0.546788 m/s,
      LOS rate: -0.021994 deg/s,
      cmd heading: 256.224219 deg,
      new cmd heading: 256.207137 deg.

2025-09-19T23:58:29.210Z,1758326309.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471658 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:29.441Z,1758326309.441 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:29.441Z,1758326309.441 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:29.442Z,1758326309.442 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:29.631Z,1758326309.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:29.634Z,1758326309.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 272.284515 m,
      bearing: 265.835364 deg,
      approach rate: -0.572248 m/s,
      LOS rate: -0.021760 deg/s,
      cmd heading: 256.207144 deg,
      new cmd heading: 256.188150 deg.

2025-09-19T23:58:29.635Z,1758326309.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471327 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:29.693Z,1758326309.693 [DAT](INFO): DAT read: user:623>

2025-09-19T23:58:29.694Z,1758326309.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509243
2025-09-19T23:58:29.945Z,1758326309.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760450
2025-09-19T23:58:30.009Z,1758326310.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:30.011Z,1758326310.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 272.068512 m,
      bearing: 265.827186 deg,
      approach rate: -0.571305 m/s,
      LOS rate: -0.021649 deg/s,
      cmd heading: 256.188156 deg,
      new cmd heading: 256.171786 deg.

2025-09-19T23:58:30.017Z,1758326310.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471041 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:30.197Z,1758326310.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012476
2025-09-19T23:58:30.445Z,1758326310.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:30.449Z,1758326310.449 [DAT](INFO): DAT read: Rx Time:23:58:31.2831

2025-09-19T23:58:30.449Z,1758326310.449 [DAT](INFO): Rx dataTimestamp_ set to:1758326310.449220
2025-09-19T23:58:30.450Z,1758326310.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265662
2025-09-19T23:58:30.450Z,1758326310.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 271.830872 m,
      bearing: 265.818071 deg,
      approach rate: -0.544672 m/s,
      LOS rate: -0.020908 deg/s,
      cmd heading: 256.171791 deg,
      new cmd heading: 256.153547 deg.

2025-09-19T23:58:30.451Z,1758326310.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470723 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:30.701Z,1758326310.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516762
2025-09-19T23:58:30.858Z,1758326310.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.43 m.
2025-09-19T23:58:30.882Z,1758326310.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.430420 m,
      nav range: 271.626099 m,
      bearing: 265.810289 deg,
      approach rate: -0.503348 m/s,
      LOS rate: -0.019144 deg/s,
      cmd heading: 256.153541 deg,
      new cmd heading: 256.137964 deg.

2025-09-19T23:58:30.891Z,1758326310.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470451 target range: 292.430420 and range: 293.20 m.
2025-09-19T23:58:30.962Z,1758326310.962 [DAT](INFO): DAT read: 23:58:31.2831 LVL= 28992, 28977, 32754, 32755, AGC= 72, IDX= 162, 0.39,-1.655, 2.744,-2.036,-2.078, PHS= 0.524,-1.416,-0.002, RAW= 134.8,  10.3, CAL= 134.4,  11.4, ROT=  15.6, -11.4

2025-09-19T23:58:30.963Z,1758326310.963 [DAT](INFO): got valid direction response:
 23:58:31.2831 LVL= 28992, 28977, 32754, 32755, AGC= 72, IDX= 162, 0.39,-1.655, 2.744,-2.036,-2.078, PHS= 0.524,-1.416,-0.002, RAW= 134.8,  10.3, CAL= 134.4,  11.4, ROT=  15.6, -11.4

2025-09-19T23:58:30.965Z,1758326310.965 [DAT](INFO): DAT read: Bearing  59.2,  14.7 (Local)

2025-09-19T23:58:30.965Z,1758326310.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.2,  14.7 (Local)

2025-09-19T23:58:30.967Z,1758326310.967 [DAT](INFO): DAT read: Range 11 to 50 : 305.4 m  (Round-trip  407.3 ms) speed  0.4 m/s

2025-09-19T23:58:30.975Z,1758326310.975 [DAT](INFO): DAT read: user:624>Tx time:23:58:32.3623

2025-09-19T23:58:30.975Z,1758326310.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:30.976Z,1758326310.976 [DAT](INFO): direction in FSK: [0.944161,0.263614,0.197657]
2025-09-19T23:58:30.977Z,1758326310.977 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:30.992Z,1758326310.992 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:30.992Z,1758326310.992 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:30.993Z,1758326310.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:31.205Z,1758326311.205 [DAT](INFO): DAT read: 

2025-09-19T23:58:31.205Z,1758326311.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021010
2025-09-19T23:58:31.265Z,1758326311.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.399994 m,
      deltaT: 3.780285 s,
      deltaX: 12.199982 m,
      approachRate: 3.227265 m/s,
      rangeRepo size: 4

2025-09-19T23:58:31.273Z,1758326311.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.597626 m,
      bearing: 271.964896 deg,
      lat: 36.779525 deg,
      lon: -121.859728 deg,
      deltaT: 3.780285 s,
      deltaX: 12.167206 m,
      approachRate: 3.218595 m/s,
      posRepo size: 4

2025-09-19T23:58:31.274Z,1758326311.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:31.290Z,1758326311.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 274.711670 m,
      bearing: 266.305998 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019144 deg/s,
      cmd heading: 256.137968 deg,
      new cmd heading: 256.122366 deg.

2025-09-19T23:58:31.305Z,1758326311.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470179 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:31.458Z,1758326311.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273883
2025-09-19T23:58:31.709Z,1758326311.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524482
2025-09-19T23:58:31.788Z,1758326311.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:31.790Z,1758326311.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:31.797Z,1758326311.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 274.413879 m,
      bearing: 266.295632 deg,
      approach rate: -0.560975 m/s,
      LOS rate: -0.019550 deg/s,
      cmd heading: 256.122368 deg,
      new cmd heading: 256.101612 deg.

2025-09-19T23:58:31.798Z,1758326311.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469816 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:31.961Z,1758326311.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776422
2025-09-19T23:58:32.112Z,1758326312.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:32.115Z,1758326312.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 274.227081 m,
      bearing: 266.289210 deg,
      approach rate: -0.581151 m/s,
      LOS rate: -0.019993 deg/s,
      cmd heading: 256.101604 deg,
      new cmd heading: 256.088751 deg.

2025-09-19T23:58:32.116Z,1758326312.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469592 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:32.214Z,1758326312.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029232
2025-09-19T23:58:32.465Z,1758326312.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280521
2025-09-19T23:58:32.543Z,1758326312.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:32.546Z,1758326312.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 274.009979 m,
      bearing: 266.281961 deg,
      approach rate: -0.503069 m/s,
      LOS rate: -0.016809 deg/s,
      cmd heading: 256.088763 deg,
      new cmd heading: 256.074255 deg.

2025-09-19T23:58:32.547Z,1758326312.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469339 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:32.717Z,1758326312.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532500
2025-09-19T23:58:32.925Z,1758326312.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:32.927Z,1758326312.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 273.817841 m,
      bearing: 266.275552 deg,
      approach rate: -0.503691 m/s,
      LOS rate: -0.016815 deg/s,
      cmd heading: 256.074256 deg,
      new cmd heading: 256.061427 deg.

2025-09-19T23:58:32.929Z,1758326312.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469115 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:32.969Z,1758326312.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784703
2025-09-19T23:58:33.222Z,1758326313.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037624
2025-09-19T23:58:33.473Z,1758326313.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288589
2025-09-19T23:58:33.495Z,1758326313.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:33.498Z,1758326313.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 273.530762 m,
      bearing: 266.265993 deg,
      approach rate: -0.503259 m/s,
      LOS rate: -0.016773 deg/s,
      cmd heading: 256.061415 deg,
      new cmd heading: 256.042279 deg.

2025-09-19T23:58:33.499Z,1758326313.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468781 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:33.726Z,1758326313.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541578
2025-09-19T23:58:33.799Z,1758326313.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:33.814Z,1758326313.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:33.821Z,1758326313.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 273.376678 m,
      bearing: 266.260857 deg,
      approach rate: -0.483646 m/s,
      LOS rate: -0.016132 deg/s,
      cmd heading: 256.042291 deg,
      new cmd heading: 256.032012 deg.

2025-09-19T23:58:33.822Z,1758326313.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468602 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:33.977Z,1758326313.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792474
2025-09-19T23:58:34.193Z,1758326314.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:34.196Z,1758326314.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 273.179413 m,
      bearing: 266.254263 deg,
      approach rate: -0.519875 m/s,
      LOS rate: -0.017390 deg/s,
      cmd heading: 256.032018 deg,
      new cmd heading: 256.018821 deg.

2025-09-19T23:58:34.197Z,1758326314.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468371 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:34.229Z,1758326314.229 [DAT](INFO): DAT read: Rx Time:23:58:35.1525

2025-09-19T23:58:34.230Z,1758326314.230 [DAT](INFO): Rx dataTimestamp_ set to:1758326314.229628
2025-09-19T23:58:34.231Z,1758326314.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046426
2025-09-19T23:58:34.481Z,1758326314.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296783
2025-09-19T23:58:34.608Z,1758326314.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.60 m.
2025-09-19T23:58:34.611Z,1758326314.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.597626 m,
      nav range: 272.967743 m,
      bearing: 266.248466 deg,
      approach rate: -0.510687 m/s,
      LOS rate: -0.013997 deg/s,
      cmd heading: 256.018822 deg,
      new cmd heading: 256.007219 deg.

2025-09-19T23:58:34.612Z,1758326314.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468169 target range: 304.597626 and range: 305.40 m.
2025-09-19T23:58:34.761Z,1758326314.761 [DAT](INFO): DAT read: 23:58:35.1525 LVL= 25040, 28657, 29522, 29011, AGC= 74, IDX= 222,-0.40,-0.929,-2.332,-0.925,-1.561, PHS= 0.734,-0.726, 0.593, RAW= 144.9,  -8.7, CAL= 145.2, -10.3, ROT=   4.8,  10.3

2025-09-19T23:58:34.763Z,1758326314.763 [DAT](INFO): got valid direction response:
 23:58:35.1525 LVL= 25040, 28657, 29522, 29011, AGC= 74, IDX= 222,-0.40,-0.929,-2.332,-0.925,-1.561, PHS= 0.734,-0.726, 0.593, RAW= 144.9,  -8.7, CAL= 145.2, -10.3, ROT=   4.8,  10.3

2025-09-19T23:58:34.765Z,1758326314.765 [DAT](INFO): DAT read: Bearing  36.6,   3.5 (Local)

2025-09-19T23:58:34.766Z,1758326314.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.6,   3.5 (Local)

2025-09-19T23:58:34.768Z,1758326314.768 [DAT](INFO): DAT read: Range 11 to 50 : 289.5 m  (Round-trip  386.1 ms) speed  0.2 m/s

2025-09-19T23:58:34.769Z,1758326314.769 [DAT](INFO): DAT read: Tx time:23:58:36.2154

2025-09-19T23:58:34.770Z,1758326314.770 [DAT](INFO): Ping request sent.
2025-09-19T23:58:34.770Z,1758326314.770 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:34.771Z,1758326314.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:34.777Z,1758326314.777 [DAT](INFO): direction in FSK: [0.980434,0.082329,-0.178802]
2025-09-19T23:58:34.777Z,1758326314.777 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:34.777Z,1758326314.777 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:34.785Z,1758326314.785 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:34.786Z,1758326314.786 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:35.023Z,1758326315.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 289.500000 m,
      deltaT: 3.780795 s,
      deltaX: -15.899994 m,
      approachRate: -4.205463 m/s,
      rangeRepo size: 4

2025-09-19T23:58:35.025Z,1758326315.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.739716 m,
      bearing: 260.601132 deg,
      lat: 36.779506 deg,
      lon: -121.859776 deg,
      deltaT: 3.780795 s,
      deltaX: -15.857910 m,
      approachRate: -4.194332 m/s,
      posRepo size: 4

2025-09-19T23:58:35.026Z,1758326315.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:35.029Z,1758326315.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 277.104095 m,
      bearing: 265.852333 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013997 deg/s,
      cmd heading: 256.007211 deg,
      new cmd heading: 255.995601 deg.

2025-09-19T23:58:35.030Z,1758326315.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467966 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:35.455Z,1758326315.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:35.458Z,1758326315.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 276.888184 m,
      bearing: 265.844515 deg,
      approach rate: -0.498818 m/s,
      LOS rate: -0.018078 deg/s,
      cmd heading: 255.995599 deg,
      new cmd heading: 255.979950 deg.

2025-09-19T23:58:35.459Z,1758326315.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467693 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:35.823Z,1758326315.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:35.825Z,1758326315.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:35.827Z,1758326315.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 276.705688 m,
      bearing: 265.837875 deg,
      approach rate: -0.493800 m/s,
      LOS rate: -0.017977 deg/s,
      cmd heading: 255.979945 deg,
      new cmd heading: 255.966657 deg.

2025-09-19T23:58:35.829Z,1758326315.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467461 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:35.993Z,1758326315.993 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:35.993Z,1758326315.993 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:35.993Z,1758326315.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:36.228Z,1758326316.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:36.230Z,1758326316.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 276.506500 m,
      bearing: 265.830597 deg,
      approach rate: -0.494569 m/s,
      LOS rate: -0.018085 deg/s,
      cmd heading: 255.966667 deg,
      new cmd heading: 255.952099 deg.

2025-09-19T23:58:36.231Z,1758326316.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467207 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:36.246Z,1758326316.246 [DAT](INFO): DAT read: user:625>

2025-09-19T23:58:36.248Z,1758326316.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477628
2025-09-19T23:58:36.497Z,1758326316.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727135
2025-09-19T23:58:36.655Z,1758326316.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:36.658Z,1758326316.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 276.283661 m,
      bearing: 265.822358 deg,
      approach rate: -0.520832 m/s,
      LOS rate: -0.019271 deg/s,
      cmd heading: 255.952105 deg,
      new cmd heading: 255.935614 deg.

2025-09-19T23:58:36.659Z,1758326316.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466919 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:36.750Z,1758326316.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980296
2025-09-19T23:58:37.001Z,1758326317.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231028
2025-09-19T23:58:37.034Z,1758326317.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:37.037Z,1758326317.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 276.086548 m,
      bearing: 265.815055 deg,
      approach rate: -0.520561 m/s,
      LOS rate: -0.019301 deg/s,
      cmd heading: 255.935603 deg,
      new cmd heading: 255.920986 deg.

2025-09-19T23:58:37.038Z,1758326317.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466664 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:37.254Z,1758326317.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484454
2025-09-19T23:58:37.503Z,1758326317.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:37.505Z,1758326317.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735164
2025-09-19T23:58:37.510Z,1758326317.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 275.854004 m,
      bearing: 265.805348 deg,
      approach rate: -0.496240 m/s,
      LOS rate: -0.020732 deg/s,
      cmd heading: 255.920986 deg,
      new cmd heading: 255.901556 deg.

2025-09-19T23:58:37.511Z,1758326317.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466325 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:37.758Z,1758326317.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987797
2025-09-19T23:58:37.851Z,1758326317.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:37.854Z,1758326317.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:37.857Z,1758326317.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 275.661346 m,
      bearing: 265.797300 deg,
      approach rate: -0.548647 m/s,
      LOS rate: -0.022935 deg/s,
      cmd heading: 255.901561 deg,
      new cmd heading: 255.885454 deg.

2025-09-19T23:58:37.858Z,1758326317.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466043 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:38.009Z,1758326318.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238973
2025-09-19T23:58:38.263Z,1758326318.263 [DAT](INFO): DAT read: Rx Time:23:58:39.0218

2025-09-19T23:58:38.263Z,1758326318.263 [DAT](INFO): Rx dataTimestamp_ set to:1758326318.262786
2025-09-19T23:58:38.265Z,1758326318.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494956
2025-09-19T23:58:38.287Z,1758326318.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:38.294Z,1758326318.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 275.449219 m,
      bearing: 265.788431 deg,
      approach rate: -0.489763 m/s,
      LOS rate: -0.020492 deg/s,
      cmd heading: 255.885442 deg,
      new cmd heading: 255.867691 deg.

2025-09-19T23:58:38.295Z,1758326318.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465734 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:38.514Z,1758326318.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743858
2025-09-19T23:58:38.702Z,1758326318.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.74 m.
2025-09-19T23:58:38.704Z,1758326318.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.739716 m,
      nav range: 275.218536 m,
      bearing: 265.778293 deg,
      approach rate: -0.556443 m/s,
      LOS rate: -0.024475 deg/s,
      cmd heading: 255.867684 deg,
      new cmd heading: 255.847390 deg.

2025-09-19T23:58:38.705Z,1758326318.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465379 target range: 288.739716 and range: 289.50 m.
2025-09-19T23:58:38.773Z,1758326318.773 [DAT](INFO): DAT read: 23:58:39.0218 LVL= 18192, 30497, 20946, 32755, AGC= 68, IDX= 355, 0.46,-2.790, 1.975,-2.921, 2.727, PHS= 0.869,-0.707, 0.592, RAW= 140.5, -10.4, CAL= 140.6, -12.4, ROT=   9.4,  12.4

2025-09-19T23:58:38.774Z,1758326318.774 [DAT](INFO): got valid direction response:
 23:58:39.0218 LVL= 18192, 30497, 20946, 32755, AGC= 68, IDX= 355, 0.46,-2.790, 1.975,-2.921, 2.727, PHS= 0.869,-0.707, 0.592, RAW= 140.5, -10.4, CAL= 140.6, -12.4, ROT=   9.4,  12.4

2025-09-19T23:58:38.775Z,1758326318.775 [DAT](INFO): DAT read: Bearing  34.5,   7.1 (Local)

2025-09-19T23:58:38.775Z,1758326318.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.5,   7.1 (Local)

2025-09-19T23:58:38.777Z,1758326318.777 [DAT](INFO): DAT read: Range 11 to 50 : 301.7 m  (Round-trip  402.3 ms) speed  0.4 m/s

2025-09-19T23:58:38.778Z,1758326318.778 [DAT](INFO): DAT read: user:626>Tx time:23:58:40.1123

2025-09-19T23:58:38.779Z,1758326318.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:38.779Z,1758326318.779 [DAT](INFO): direction in FSK: [0.963558,0.159516,-0.214735]
2025-09-19T23:58:38.780Z,1758326318.780 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:38.783Z,1758326318.783 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:38.783Z,1758326318.783 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:38.783Z,1758326318.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:39.018Z,1758326319.018 [DAT](INFO): DAT read: 

2025-09-19T23:58:39.019Z,1758326319.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.249175
2025-09-19T23:58:39.117Z,1758326319.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 301.700012 m,
      deltaT: 4.031383 s,
      deltaX: 12.200012 m,
      approachRate: 3.026260 m/s,
      rangeRepo size: 4

2025-09-19T23:58:39.119Z,1758326319.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.909729 m,
      bearing: 265.289105 deg,
      lat: 36.779473 deg,
      lon: -121.859803 deg,
      deltaT: 4.031383 s,
      deltaX: 12.170013 m,
      approachRate: 3.018818 m/s,
      posRepo size: 4

2025-09-19T23:58:39.120Z,1758326319.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:39.122Z,1758326319.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 277.744385 m,
      bearing: 265.063676 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024475 deg/s,
      cmd heading: 255.847384 deg,
      new cmd heading: 255.827093 deg.

2025-09-19T23:58:39.123Z,1758326319.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465025 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:39.269Z,1758326319.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.499260
2025-09-19T23:58:39.430Z,1758326319.430 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:58:39.529Z,1758326319.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.759062
2025-09-19T23:58:39.552Z,1758326319.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:39.555Z,1758326319.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 277.509674 m,
      bearing: 265.052449 deg,
      approach rate: -0.538771 m/s,
      LOS rate: -0.025792 deg/s,
      cmd heading: 255.827085 deg,
      new cmd heading: 255.804613 deg.

2025-09-19T23:58:39.556Z,1758326319.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464633 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:39.781Z,1758326319.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.011008
2025-09-19T23:58:39.910Z,1758326319.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:39.913Z,1758326319.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:39.915Z,1758326319.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 277.317017 m,
      bearing: 265.043220 deg,
      approach rate: -0.533736 m/s,
      LOS rate: -0.025585 deg/s,
      cmd heading: 255.804600 deg,
      new cmd heading: 255.786129 deg.

2025-09-19T23:58:39.916Z,1758326319.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464310 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:40.033Z,1758326320.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.263170
2025-09-19T23:58:40.285Z,1758326320.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.514889
2025-09-19T23:58:40.305Z,1758326320.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:40.308Z,1758326320.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 277.107239 m,
      bearing: 265.033240 deg,
      approach rate: -0.534534 m/s,
      LOS rate: -0.025450 deg/s,
      cmd heading: 255.786131 deg,
      new cmd heading: 255.766156 deg.

2025-09-19T23:58:40.309Z,1758326320.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463962 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:40.433Z,1758326320.433 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:58:40.541Z,1758326320.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.770708
2025-09-19T23:58:40.774Z,1758326320.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:40.781Z,1758326320.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 276.873505 m,
      bearing: 265.023163 deg,
      approach rate: -0.498927 m/s,
      LOS rate: -0.021529 deg/s,
      cmd heading: 255.766160 deg,
      new cmd heading: 255.745988 deg.

2025-09-19T23:58:40.782Z,1758326320.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463610 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:40.789Z,1758326320.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.019167
2025-09-19T23:58:41.041Z,1758326321.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.270956
2025-09-19T23:58:41.161Z,1758326321.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:41.163Z,1758326321.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 276.651245 m,
      bearing: 265.013563 deg,
      approach rate: -0.574293 m/s,
      LOS rate: -0.024824 deg/s,
      cmd heading: 255.745997 deg,
      new cmd heading: 255.726782 deg.

2025-09-19T23:58:41.165Z,1758326321.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463274 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:41.294Z,1758326321.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.523716
2025-09-19T23:58:41.545Z,1758326321.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.774941
2025-09-19T23:58:41.596Z,1758326321.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:41.599Z,1758326321.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 276.425568 m,
      bearing: 265.003909 deg,
      approach rate: -0.518394 m/s,
      LOS rate: -0.022194 deg/s,
      cmd heading: 255.726790 deg,
      new cmd heading: 255.707467 deg.

2025-09-19T23:58:41.600Z,1758326321.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462937 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:41.797Z,1758326321.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.027355
2025-09-19T23:58:41.977Z,1758326321.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:41.979Z,1758326321.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:41.982Z,1758326321.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 276.217590 m,
      bearing: 264.994996 deg,
      approach rate: -0.543226 m/s,
      LOS rate: -0.023297 deg/s,
      cmd heading: 255.707475 deg,
      new cmd heading: 255.689636 deg.

2025-09-19T23:58:41.983Z,1758326321.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462626 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:42.049Z,1758326322.049 [DAT](INFO): DAT read: Rx Time:23:58:42.9159

2025-09-19T23:58:42.049Z,1758326322.049 [DAT](INFO): Rx dataTimestamp_ set to:1758326322.049208
2025-09-19T23:58:42.050Z,1758326322.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.280205
2025-09-19T23:58:42.305Z,1758326322.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.535024
2025-09-19T23:58:42.373Z,1758326322.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.91 m.
2025-09-19T23:58:42.375Z,1758326322.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.909729 m,
      nav range: 276.007080 m,
      bearing: 264.986030 deg,
      approach rate: -0.534472 m/s,
      LOS rate: -0.022782 deg/s,
      cmd heading: 255.689634 deg,
      new cmd heading: 255.671688 deg.

2025-09-19T23:58:42.377Z,1758326322.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462313 target range: 300.909729 and range: 301.70 m.
2025-09-19T23:58:42.565Z,1758326322.565 [DAT](INFO): DAT read: 23:58:42.9159 LVL= 32752, 32113, 32754, 32755, AGC= 70, IDX= 207,-0.14, 2.332, 0.520, 1.962, 2.078, PHS= 0.356,-1.513,-0.160, RAW= 134.5,  15.6, CAL= 133.5,  16.6, ROT=  16.5, -16.6

2025-09-19T23:58:42.566Z,1758326322.566 [DAT](INFO): got valid direction response:
 23:58:42.9159 LVL= 32752, 32113, 32754, 32755, AGC= 70, IDX= 207,-0.14, 2.332, 0.520, 1.962, 2.078, PHS= 0.356,-1.513,-0.160, RAW= 134.5,  15.6, CAL= 133.5,  16.6, ROT=  16.5, -16.6

2025-09-19T23:58:42.567Z,1758326322.567 [DAT](INFO): DAT read: Bearing  63.7,  12.6 (Local)

2025-09-19T23:58:42.568Z,1758326322.568 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.7,  12.6 (Local)

2025-09-19T23:58:42.570Z,1758326322.570 [DAT](INFO): DAT read: Range 11 to 50 : 299.6 m  (Round-trip  399.5 ms) speed  0.3 m/s

2025-09-19T23:58:42.571Z,1758326322.571 [DAT](INFO): DAT read: user:627>Tx time:23:58:44.0123

2025-09-19T23:58:42.571Z,1758326322.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:42.583Z,1758326322.583 [DAT](INFO): direction in FSK: [0.918859,0.272178,0.285688]
2025-09-19T23:58:42.583Z,1758326322.583 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:42.603Z,1758326322.603 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:42.603Z,1758326322.603 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:42.604Z,1758326322.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:42.805Z,1758326322.805 [DAT](INFO): DAT read: 

2025-09-19T23:58:42.805Z,1758326322.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.035415
2025-09-19T23:58:42.855Z,1758326322.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.600006 m,
      deltaT: 3.787313 s,
      deltaX: -2.100006 m,
      approachRate: -0.554484 m/s,
      rangeRepo size: 4

2025-09-19T23:58:42.861Z,1758326322.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 298.813995 m,
      bearing: 272.334315 deg,
      lat: 36.779473 deg,
      lon: -121.859953 deg,
      deltaT: 3.787313 s,
      deltaX: -2.095734 m,
      approachRate: -0.553356 m/s,
      posRepo size: 4

2025-09-19T23:58:42.862Z,1758326322.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:42.869Z,1758326322.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 289.070557 m,
      bearing: 265.209423 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022782 deg/s,
      cmd heading: 255.671684 deg,
      new cmd heading: 255.649746 deg.

2025-09-19T23:58:42.870Z,1758326322.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461930 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:43.057Z,1758326323.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.287007
2025-09-19T23:58:43.218Z,1758326323.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:43.245Z,1758326323.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 288.852142 m,
      bearing: 265.202434 deg,
      approach rate: -0.601098 m/s,
      LOS rate: -0.019249 deg/s,
      cmd heading: 255.649746 deg,
      new cmd heading: 255.635757 deg.

2025-09-19T23:58:43.247Z,1758326323.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461686 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:43.310Z,1758326323.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.539937
2025-09-19T23:58:43.561Z,1758326323.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.791014
2025-09-19T23:58:43.671Z,1758326323.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:43.673Z,1758326323.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 288.605438 m,
      bearing: 265.194585 deg,
      approach rate: -0.544531 m/s,
      LOS rate: -0.017339 deg/s,
      cmd heading: 255.635758 deg,
      new cmd heading: 255.620046 deg.

2025-09-19T23:58:43.674Z,1758326323.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461411 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:43.813Z,1758326323.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.043045
2025-09-19T23:58:44.022Z,1758326324.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:44.025Z,1758326324.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:44.027Z,1758326324.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 288.412872 m,
      bearing: 265.188455 deg,
      approach rate: -0.543899 m/s,
      LOS rate: -0.017325 deg/s,
      cmd heading: 255.620048 deg,
      new cmd heading: 255.607780 deg.

2025-09-19T23:58:44.033Z,1758326324.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461197 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:44.065Z,1758326324.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.295181
2025-09-19T23:58:44.317Z,1758326324.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.547404
2025-09-19T23:58:44.444Z,1758326324.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:44.447Z,1758326324.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 288.192749 m,
      bearing: 265.181432 deg,
      approach rate: -0.524520 m/s,
      LOS rate: -0.016749 deg/s,
      cmd heading: 255.607781 deg,
      new cmd heading: 255.593723 deg.

2025-09-19T23:58:44.449Z,1758326324.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460952 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:44.570Z,1758326324.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.800508
2025-09-19T23:58:44.820Z,1758326324.820 [DAT](INFO): Reached modem response timeout
2025-09-19T23:58:44.821Z,1758326324.821 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:44.821Z,1758326324.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:44.914Z,1758326324.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:44.921Z,1758326324.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 287.937683 m,
      bearing: 265.173418 deg,
      approach rate: -0.542586 m/s,
      LOS rate: -0.017062 deg/s,
      cmd heading: 255.593711 deg,
      new cmd heading: 255.577670 deg.

2025-09-19T23:58:44.922Z,1758326324.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460672 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:45.073Z,1758326325.073 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:45.287Z,1758326325.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:45.290Z,1758326325.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 287.734589 m,
      bearing: 265.167017 deg,
      approach rate: -0.545191 m/s,
      LOS rate: -0.017195 deg/s,
      cmd heading: 255.577674 deg,
      new cmd heading: 255.564863 deg.

2025-09-19T23:58:45.291Z,1758326325.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460448 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:45.325Z,1758326325.325 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:45.577Z,1758326325.577 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:45.716Z,1758326325.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:45.718Z,1758326325.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 287.515167 m,
      bearing: 265.159552 deg,
      approach rate: -0.511980 m/s,
      LOS rate: -0.017431 deg/s,
      cmd heading: 255.564860 deg,
      new cmd heading: 255.549919 deg.

2025-09-19T23:58:45.720Z,1758326325.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460187 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:45.829Z,1758326325.829 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:46.081Z,1758326326.081 [DAT](INFO): DAT read: Rx Time:23:58:46.8143

2025-09-19T23:58:46.082Z,1758326326.082 [DAT](INFO): Rx dataTimestamp_ set to:1758326326.081422
2025-09-19T23:58:46.082Z,1758326326.082 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:46.114Z,1758326326.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:46.133Z,1758326326.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.81 m.
2025-09-19T23:58:46.135Z,1758326326.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.813995 m,
      nav range: 287.293854 m,
      bearing: 265.152003 deg,
      approach rate: -0.530375 m/s,
      LOS rate: -0.018106 deg/s,
      cmd heading: 255.549916 deg,
      new cmd heading: 255.534805 deg.

2025-09-19T23:58:46.137Z,1758326326.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459924 target range: 298.813995 and range: 299.60 m.
2025-09-19T23:58:46.333Z,1758326326.333 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:58:46.595Z,1758326326.595 [DAT](INFO): DAT read: 23:58:46.8143 LVL= 25504, 32753, 30114, 32755, AGC= 69, IDX= 216, 0.36,-2.288, 2.202,-2.579,-2.569, PHS= 0.383,-1.467,-0.053, RAW= 137.0,  13.5, CAL= 136.2,  14.6, ROT=  13.8, -14.6

2025-09-19T23:58:46.596Z,1758326326.596 [DAT](INFO): got valid direction response:
 23:58:46.8143 LVL= 25504, 32753, 30114, 32755, AGC= 69, IDX= 216, 0.36,-2.288, 2.202,-2.579,-2.569, PHS= 0.383,-1.467,-0.053, RAW= 137.0,  13.5, CAL= 136.2,  14.6, ROT=  13.8, -14.6

2025-09-19T23:58:46.597Z,1758326326.597 [DAT](INFO): DAT read: Bearing  61.0,   9.9 (Local)

2025-09-19T23:58:46.597Z,1758326326.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.0,   9.9 (Local)

2025-09-19T23:58:46.598Z,1758326326.598 [DAT](INFO): DAT read: Range 11 to 50 : 298.4 m  (Round-trip  397.9 ms) speed  0.4 m/s

2025-09-19T23:58:46.599Z,1758326326.599 [DAT](INFO): DAT read: user:628>

2025-09-19T23:58:46.600Z,1758326326.600 [DAT](INFO): DAT read: Tx time:23:58:47.9123

2025-09-19T23:58:46.600Z,1758326326.600 [DAT](INFO): Ping request sent.
2025-09-19T23:58:46.600Z,1758326326.600 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:46.601Z,1758326326.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:46.602Z,1758326326.602 [DAT](INFO): direction in FSK: [0.939776,0.230831,0.252069]
2025-09-19T23:58:46.602Z,1758326326.602 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:46.602Z,1758326326.602 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:46.610Z,1758326326.610 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:46.610Z,1758326326.610 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:46.646Z,1758326326.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 298.399994 m,
      deltaT: 4.033062 s,
      deltaX: -1.200012 m,
      approachRate: -0.297544 m/s,
      rangeRepo size: 4

2025-09-19T23:58:46.656Z,1758326326.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.617096 m,
      bearing: 269.626708 deg,
      lat: 36.779675 deg,
      lon: -121.859977 deg,
      deltaT: 4.033062 s,
      deltaX: -1.196899 m,
      approachRate: -0.296772 m/s,
      posRepo size: 4

2025-09-19T23:58:46.657Z,1758326326.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:46.659Z,1758326326.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 288.185425 m,
      bearing: 269.622839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018106 deg/s,
      cmd heading: 255.534807 deg,
      new cmd heading: 255.516260 deg.

2025-09-19T23:58:46.668Z,1758326326.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459600 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:47.042Z,1758326327.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:47.045Z,1758326327.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 287.913147 m,
      bearing: 269.618297 deg,
      approach rate: -0.685490 m/s,
      LOS rate: -0.011448 deg/s,
      cmd heading: 255.516257 deg,
      new cmd heading: 255.507162 deg.

2025-09-19T23:58:47.046Z,1758326327.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459441 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:47.419Z,1758326327.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:47.422Z,1758326327.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 287.712830 m,
      bearing: 269.614948 deg,
      approach rate: -0.530967 m/s,
      LOS rate: -0.008883 deg/s,
      cmd heading: 255.507159 deg,
      new cmd heading: 255.500456 deg.

2025-09-19T23:58:47.423Z,1758326327.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459324 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:47.933Z,1758326327.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:47.936Z,1758326327.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 287.442413 m,
      bearing: 269.608665 deg,
      approach rate: -0.526349 m/s,
      LOS rate: -0.012241 deg/s,
      cmd heading: 255.500465 deg,
      new cmd heading: 255.487887 deg.

2025-09-19T23:58:47.937Z,1758326327.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459105 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:48.271Z,1758326328.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:48.302Z,1758326328.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:48.308Z,1758326328.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 287.245605 m,
      bearing: 269.604106 deg,
      approach rate: -0.534225 m/s,
      LOS rate: -0.012381 deg/s,
      cmd heading: 255.487898 deg,
      new cmd heading: 255.478775 deg.

2025-09-19T23:58:48.309Z,1758326328.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458946 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:48.349Z,1758326328.349 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:48.349Z,1758326328.349 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:48.350Z,1758326328.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:48.604Z,1758326328.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002841
2025-09-19T23:58:48.705Z,1758326328.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:48.708Z,1758326328.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 287.024872 m,
      bearing: 269.597695 deg,
      approach rate: -0.547012 m/s,
      LOS rate: -0.015900 deg/s,
      cmd heading: 255.478773 deg,
      new cmd heading: 255.465941 deg.

2025-09-19T23:58:48.709Z,1758326328.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458722 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:48.853Z,1758326328.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252444
2025-09-19T23:58:49.063Z,1758326329.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:49.066Z,1758326329.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 286.841705 m,
      bearing: 269.592388 deg,
      approach rate: -0.511866 m/s,
      LOS rate: -0.014842 deg/s,
      cmd heading: 255.465932 deg,
      new cmd heading: 255.455310 deg.

2025-09-19T23:58:49.067Z,1758326329.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458536 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:49.106Z,1758326329.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505349
2025-09-19T23:58:49.357Z,1758326329.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756428
2025-09-19T23:58:49.490Z,1758326329.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:49.493Z,1758326329.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 286.623718 m,
      bearing: 269.586076 deg,
      approach rate: -0.510468 m/s,
      LOS rate: -0.014793 deg/s,
      cmd heading: 255.455304 deg,
      new cmd heading: 255.442670 deg.

2025-09-19T23:58:49.494Z,1758326329.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458316 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:49.612Z,1758326329.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010517
2025-09-19T23:58:49.861Z,1758326329.861 [DAT](INFO): DAT read: Rx Time:23:58:50.7110

2025-09-19T23:58:49.861Z,1758326329.861 [DAT](INFO): Rx dataTimestamp_ set to:1758326329.861144
2025-09-19T23:58:49.862Z,1758326329.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261521
2025-09-19T23:58:49.922Z,1758326329.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:49.929Z,1758326329.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 286.391632 m,
      bearing: 269.581860 deg,
      approach rate: -0.537509 m/s,
      LOS rate: -0.009771 deg/s,
      cmd heading: 255.442682 deg,
      new cmd heading: 255.434244 deg.

2025-09-19T23:58:49.930Z,1758326329.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458169 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:50.113Z,1758326330.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512633
2025-09-19T23:58:50.349Z,1758326330.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:50.351Z,1758326330.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.62 m.
2025-09-19T23:58:50.361Z,1758326330.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.617096 m,
      nav range: 286.157043 m,
      bearing: 269.577602 deg,
      approach rate: -0.546944 m/s,
      LOS rate: -0.009935 deg/s,
      cmd heading: 255.434240 deg,
      new cmd heading: 255.425718 deg.

2025-09-19T23:58:50.362Z,1758326330.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458020 target range: 297.617096 and range: 298.40 m.
2025-09-19T23:58:50.371Z,1758326330.371 [DAT](INFO): DAT read: 23:58:50.7110 LVL= 28560, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.50,-2.652, 1.959,-2.735, 2.802, PHS= 0.930,-0.798, 0.702, RAW= 143.0, -10.3, CAL= 143.3, -12.2, ROT=   6.7,  12.2

2025-09-19T23:58:50.372Z,1758326330.372 [DAT](INFO): got valid direction response:
 23:58:50.7110 LVL= 28560, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.50,-2.652, 1.959,-2.735, 2.802, PHS= 0.930,-0.798, 0.702, RAW= 143.0, -10.3, CAL= 143.3, -12.2, ROT=   6.7,  12.2

2025-09-19T23:58:50.373Z,1758326330.373 [DAT](INFO): DAT read: Bearing  33.2,   3.2 (Local)

2025-09-19T23:58:50.373Z,1758326330.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.2,   3.2 (Local)

2025-09-19T23:58:50.375Z,1758326330.375 [DAT](INFO): DAT read: Range 11 to 50 : 296.0 m  (Round-trip  394.7 ms) speed  0.4 m/s

2025-09-19T23:58:50.375Z,1758326330.375 [DAT](INFO): DAT read: user:629>

2025-09-19T23:58:50.376Z,1758326330.376 [DAT](INFO): DAT read: Tx time:23:58:51.8122

2025-09-19T23:58:50.376Z,1758326330.376 [DAT](INFO): Ping request sent.
2025-09-19T23:58:50.377Z,1758326330.377 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:50.377Z,1758326330.377 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:50.378Z,1758326330.378 [DAT](INFO): direction in FSK: [0.970741,0.114036,-0.211325]
2025-09-19T23:58:50.378Z,1758326330.378 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:50.378Z,1758326330.378 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:50.386Z,1758326330.386 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:50.386Z,1758326330.386 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:50.784Z,1758326330.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 296.000000 m,
      deltaT: 3.779023 s,
      deltaX: -2.399994 m,
      approachRate: -0.635083 m/s,
      rangeRepo size: 4

2025-09-19T23:58:50.786Z,1758326330.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 295.224579 m,
      bearing: 262.106471 deg,
      lat: 36.779473 deg,
      lon: -121.859953 deg,
      deltaT: 3.779023 s,
      deltaX: -2.392517 m,
      approachRate: -0.633105 m/s,
      posRepo size: 4

2025-09-19T23:58:50.787Z,1758326330.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:50.794Z,1758326330.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 284.864777 m,
      bearing: 265.059043 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009935 deg/s,
      cmd heading: 255.425716 deg,
      new cmd heading: 255.417200 deg.

2025-09-19T23:58:50.795Z,1758326330.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457871 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:51.170Z,1758326331.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:51.174Z,1758326331.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 284.658295 m,
      bearing: 265.050606 deg,
      approach rate: -0.531428 m/s,
      LOS rate: -0.021729 deg/s,
      cmd heading: 255.417192 deg,
      new cmd heading: 255.400307 deg.

2025-09-19T23:58:51.175Z,1758326331.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457576 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:51.556Z,1758326331.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:51.558Z,1758326331.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 284.452850 m,
      bearing: 265.042190 deg,
      approach rate: -0.529863 m/s,
      LOS rate: -0.021723 deg/s,
      cmd heading: 255.400307 deg,
      new cmd heading: 255.383462 deg.

2025-09-19T23:58:51.559Z,1758326331.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457282 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:51.984Z,1758326331.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:51.987Z,1758326331.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 284.244141 m,
      bearing: 265.035006 deg,
      approach rate: -0.486574 m/s,
      LOS rate: -0.016761 deg/s,
      cmd heading: 255.383451 deg,
      new cmd heading: 255.369072 deg.

2025-09-19T23:58:51.989Z,1758326331.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457031 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:52.387Z,1758326332.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:52.389Z,1758326332.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:52.392Z,1758326332.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 284.053864 m,
      bearing: 265.028448 deg,
      approach rate: -0.470379 m/s,
      LOS rate: -0.016222 deg/s,
      cmd heading: 255.369080 deg,
      new cmd heading: 255.355955 deg.

2025-09-19T23:58:52.393Z,1758326332.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456802 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:52.636Z,1758326332.636 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:52.636Z,1758326332.636 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:52.637Z,1758326332.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:52.812Z,1758326332.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:52.818Z,1758326332.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 283.853394 m,
      bearing: 265.020914 deg,
      approach rate: -0.493077 m/s,
      LOS rate: -0.018542 deg/s,
      cmd heading: 255.355966 deg,
      new cmd heading: 255.340888 deg.

2025-09-19T23:58:52.819Z,1758326332.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456539 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:52.886Z,1758326332.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508835
2025-09-19T23:58:53.137Z,1758326333.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760179
2025-09-19T23:58:53.167Z,1758326333.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:53.170Z,1758326333.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 283.676147 m,
      bearing: 265.014231 deg,
      approach rate: -0.477199 m/s,
      LOS rate: -0.018006 deg/s,
      cmd heading: 255.340885 deg,
      new cmd heading: 255.327509 deg.

2025-09-19T23:58:53.171Z,1758326333.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456306 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:53.389Z,1758326333.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012295
2025-09-19T23:58:53.601Z,1758326333.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:53.605Z,1758326333.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 283.476624 m,
      bearing: 265.006697 deg,
      approach rate: -0.462120 m/s,
      LOS rate: -0.017462 deg/s,
      cmd heading: 255.327498 deg,
      new cmd heading: 255.312419 deg.

2025-09-19T23:58:53.606Z,1758326333.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456042 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:53.645Z,1758326333.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267761
2025-09-19T23:58:53.893Z,1758326333.893 [DAT](INFO): DAT read: Rx Time:23:58:54.6083

2025-09-19T23:58:53.893Z,1758326333.893 [DAT](INFO): Rx dataTimestamp_ set to:1758326333.893126
2025-09-19T23:58:53.894Z,1758326333.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517341
2025-09-19T23:58:54.004Z,1758326334.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:54.007Z,1758326334.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 283.270142 m,
      bearing: 264.999243 deg,
      approach rate: -0.509714 m/s,
      LOS rate: -0.018413 deg/s,
      cmd heading: 255.312417 deg,
      new cmd heading: 255.297499 deg.

2025-09-19T23:58:54.008Z,1758326334.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455782 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:54.145Z,1758326334.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768336
2025-09-19T23:58:54.380Z,1758326334.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.22 m.
2025-09-19T23:58:54.383Z,1758326334.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.224579 m,
      nav range: 283.085144 m,
      bearing: 264.992540 deg,
      approach rate: -0.492229 m/s,
      LOS rate: -0.017848 deg/s,
      cmd heading: 255.297499 deg,
      new cmd heading: 255.284083 deg.

2025-09-19T23:58:54.385Z,1758326334.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455548 target range: 295.224579 and range: 296.00 m.
2025-09-19T23:58:54.403Z,1758326334.403 [DAT](INFO): DAT read: 23:58:54.6083 LVL= 29008, 32753, 32306, 32755, AGC= 69, IDX= 207, 0.12,-1.496, 2.893,-1.846,-1.863, PHS= 0.469,-1.482,-0.027, RAW= 135.8,  11.8, CAL= 135.3,  12.9, ROT=  14.7, -12.9

2025-09-19T23:58:54.404Z,1758326334.404 [DAT](INFO): got valid direction response:
 23:58:54.6083 LVL= 29008, 32753, 32306, 32755, AGC= 69, IDX= 207, 0.12,-1.496, 2.893,-1.846,-1.863, PHS= 0.469,-1.482,-0.027, RAW= 135.8,  11.8, CAL= 135.3,  12.9, ROT=  14.7, -12.9

2025-09-19T23:58:54.405Z,1758326334.405 [DAT](INFO): DAT read: Bearing  57.7,  10.4 (Local)

2025-09-19T23:58:54.405Z,1758326334.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.7,  10.4 (Local)

2025-09-19T23:58:54.407Z,1758326334.407 [DAT](INFO): DAT read: Range 11 to 50 : 294.0 m  (Round-trip  392.0 ms) speed  0.4 m/s

2025-09-19T23:58:54.407Z,1758326334.407 [DAT](INFO): DAT read: user:630>

2025-09-19T23:58:54.408Z,1758326334.408 [DAT](INFO): DAT read: Tx time:23:58:55.7122

2025-09-19T23:58:54.409Z,1758326334.409 [DAT](INFO): Ping request sent.
2025-09-19T23:58:54.409Z,1758326334.409 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:54.409Z,1758326334.409 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:54.410Z,1758326334.410 [DAT](INFO): direction in FSK: [0.942855,0.247353,0.223250]
2025-09-19T23:58:54.410Z,1758326334.410 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:54.410Z,1758326334.410 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:54.414Z,1758326334.414 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:54.414Z,1758326334.414 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:54.813Z,1758326334.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 294.000000 m,
      deltaT: 4.031961 s,
      deltaX: -2.000000 m,
      approachRate: -0.496037 m/s,
      rangeRepo size: 4

2025-09-19T23:58:54.815Z,1758326334.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 293.229858 m,
      bearing: 270.459218 deg,
      lat: 36.779675 deg,
      lon: -121.859977 deg,
      deltaT: 4.031961 s,
      deltaX: -1.994720 m,
      approachRate: -0.494727 m/s,
      posRepo size: 4

2025-09-19T23:58:54.815Z,1758326334.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:54.834Z,1758326334.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 283.933228 m,
      bearing: 269.529750 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017848 deg/s,
      cmd heading: 255.284085 deg,
      new cmd heading: 255.268660 deg.

2025-09-19T23:58:54.835Z,1758326334.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455278 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:55.187Z,1758326335.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:55.189Z,1758326335.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:55.192Z,1758326335.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 283.740540 m,
      bearing: 269.525323 deg,
      approach rate: -0.510391 m/s,
      LOS rate: -0.011735 deg/s,
      cmd heading: 255.268649 deg,
      new cmd heading: 255.259788 deg.

2025-09-19T23:58:55.193Z,1758326335.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455124 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:55.405Z,1758326335.405 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:55.405Z,1758326335.405 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:55.405Z,1758326335.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:55.588Z,1758326335.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:55.591Z,1758326335.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 283.539154 m,
      bearing: 269.520691 deg,
      approach rate: -0.504955 m/s,
      LOS rate: -0.011621 deg/s,
      cmd heading: 255.259797 deg,
      new cmd heading: 255.250527 deg.

2025-09-19T23:58:55.592Z,1758326335.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454962 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:55.661Z,1758326335.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250984
2025-09-19T23:58:55.909Z,1758326335.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500128
2025-09-19T23:58:56.016Z,1758326336.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:56.019Z,1758326336.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 283.311554 m,
      bearing: 269.516778 deg,
      approach rate: -0.532230 m/s,
      LOS rate: -0.009159 deg/s,
      cmd heading: 255.250535 deg,
      new cmd heading: 255.242702 deg.

2025-09-19T23:58:56.020Z,1758326336.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454825 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:56.161Z,1758326336.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752219
2025-09-19T23:58:56.403Z,1758326336.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:56.406Z,1758326336.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 283.105469 m,
      bearing: 269.513239 deg,
      approach rate: -0.532524 m/s,
      LOS rate: -0.009151 deg/s,
      cmd heading: 255.242694 deg,
      new cmd heading: 255.235611 deg.

2025-09-19T23:58:56.407Z,1758326336.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454702 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:56.413Z,1758326336.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004242
2025-09-19T23:58:56.665Z,1758326336.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256387
2025-09-19T23:58:56.837Z,1758326336.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:56.839Z,1758326336.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 282.862946 m,
      bearing: 269.508827 deg,
      approach rate: -0.558773 m/s,
      LOS rate: -0.010174 deg/s,
      cmd heading: 255.235618 deg,
      new cmd heading: 255.226786 deg.

2025-09-19T23:58:56.841Z,1758326336.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454548 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:56.917Z,1758326336.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508353
2025-09-19T23:58:57.169Z,1758326337.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760255
2025-09-19T23:58:57.236Z,1758326337.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:57.238Z,1758326337.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:57.241Z,1758326337.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 282.640106 m,
      bearing: 269.504766 deg,
      approach rate: -0.555553 m/s,
      LOS rate: -0.010132 deg/s,
      cmd heading: 255.226793 deg,
      new cmd heading: 255.218665 deg.

2025-09-19T23:58:57.242Z,1758326337.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454406 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:57.421Z,1758326337.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012127
2025-09-19T23:58:57.607Z,1758326337.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:57.610Z,1758326337.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 282.431030 m,
      bearing: 269.500996 deg,
      approach rate: -0.566342 m/s,
      LOS rate: -0.010218 deg/s,
      cmd heading: 255.218679 deg,
      new cmd heading: 255.211134 deg.

2025-09-19T23:58:57.611Z,1758326337.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454275 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:57.678Z,1758326337.678 [DAT](INFO): DAT read: Rx Time:23:58:58.5062

2025-09-19T23:58:57.679Z,1758326337.679 [DAT](INFO): Rx dataTimestamp_ set to:1758326337.678468
2025-09-19T23:58:57.682Z,1758326337.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273107
2025-09-19T23:58:57.925Z,1758326337.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516113
2025-09-19T23:58:58.033Z,1758326338.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.23 m.
2025-09-19T23:58:58.036Z,1758326338.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.229858 m,
      nav range: 282.190826 m,
      bearing: 269.495842 deg,
      approach rate: -0.563966 m/s,
      LOS rate: -0.012111 deg/s,
      cmd heading: 255.211138 deg,
      new cmd heading: 255.200822 deg.

2025-09-19T23:58:58.037Z,1758326338.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454094 target range: 293.229858 and range: 294.00 m.
2025-09-19T23:58:58.185Z,1758326338.185 [DAT](INFO): DAT read: 23:58:58.5062 LVL= 28720, 30945, 32754, 32755, AGC= 66, IDX= 421,-0.18, 3.036, 1.469, 3.015, 2.312, PHS= 0.826,-0.798, 0.659, RAW= 144.6,  -8.9, CAL= 144.9, -10.6, ROT=   5.1,  10.6

2025-09-19T23:58:58.186Z,1758326338.186 [DAT](INFO): got valid direction response:
 23:58:58.5062 LVL= 28720, 30945, 32754, 32755, AGC= 66, IDX= 421,-0.18, 3.036, 1.469, 3.015, 2.312, PHS= 0.826,-0.798, 0.659, RAW= 144.6,  -8.9, CAL= 144.9, -10.6, ROT=   5.1,  10.6

2025-09-19T23:58:58.187Z,1758326338.187 [DAT](INFO): DAT read: Bearing  32.7,   1.2 (Local)

2025-09-19T23:58:58.196Z,1758326338.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.7,   1.2 (Local)

2025-09-19T23:58:58.198Z,1758326338.198 [DAT](INFO): DAT read: Range 11 to 50 : 292.4 m  (Round-trip  389.9 ms) speed  0.3 m/s

2025-09-19T23:58:58.199Z,1758326338.199 [DAT](INFO): DAT read: user:631>

2025-09-19T23:58:58.201Z,1758326338.201 [DAT](INFO): DAT read: Tx time:23:58:59.6122

2025-09-19T23:58:58.201Z,1758326338.201 [DAT](INFO): Ping request sent.
2025-09-19T23:58:58.202Z,1758326338.202 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:58:58.202Z,1758326338.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:58:58.206Z,1758326338.206 [DAT](INFO): direction in FSK: [0.979044,0.087377,-0.183951]
2025-09-19T23:58:58.206Z,1758326338.206 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:58.207Z,1758326338.207 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:58.211Z,1758326338.211 [DAT](INFO): publishing transmit ping time
2025-09-19T23:58:58.225Z,1758326338.225 [DAT](INFO): publishing direction and range info
2025-09-19T23:58:58.465Z,1758326338.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 292.399994 m,
      deltaT: 3.781034 s,
      deltaX: -1.600006 m,
      approachRate: -0.423166 m/s,
      rangeRepo size: 4

2025-09-19T23:58:58.467Z,1758326338.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 291.633331 m,
      bearing: 260.399160 deg,
      lat: 36.779675 deg,
      lon: -121.859977 deg,
      deltaT: 3.781034 s,
      deltaX: -1.596527 m,
      approachRate: -0.422246 m/s,
      posRepo size: 4

2025-09-19T23:58:58.467Z,1758326338.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:58:58.470Z,1758326338.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 281.956085 m,
      bearing: 269.490817 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012111 deg/s,
      cmd heading: 255.200811 deg,
      new cmd heading: 255.190380 deg.

2025-09-19T23:58:58.471Z,1758326338.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453912 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:58:58.854Z,1758326338.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:58:58.857Z,1758326338.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 281.736023 m,
      bearing: 269.486149 deg,
      approach rate: -0.563258 m/s,
      LOS rate: -0.011956 deg/s,
      cmd heading: 255.190375 deg,
      new cmd heading: 255.181033 deg.

2025-09-19T23:58:58.858Z,1758326338.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453749 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:58:59.255Z,1758326339.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:58:59.262Z,1758326339.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:58:59.272Z,1758326339.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 281.521179 m,
      bearing: 269.481615 deg,
      approach rate: -0.527642 m/s,
      LOS rate: -0.011145 deg/s,
      cmd heading: 255.181031 deg,
      new cmd heading: 255.171955 deg.

2025-09-19T23:58:59.273Z,1758326339.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453591 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:58:59.437Z,1758326339.437 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:58:59.437Z,1758326339.437 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:58:59.437Z,1758326339.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:58:59.625Z,1758326339.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:58:59.644Z,1758326339.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 281.310394 m,
      bearing: 269.477184 deg,
      approach rate: -0.579409 m/s,
      LOS rate: -0.012187 deg/s,
      cmd heading: 255.171961 deg,
      new cmd heading: 255.163093 deg.

2025-09-19T23:58:59.646Z,1758326339.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453436 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:58:59.693Z,1758326339.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491583
2025-09-19T23:58:59.941Z,1758326339.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739432
2025-09-19T23:59:00.058Z,1758326340.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:59:00.061Z,1758326340.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 281.077698 m,
      bearing: 269.471997 deg,
      approach rate: -0.537977 m/s,
      LOS rate: -0.012003 deg/s,
      cmd heading: 255.163081 deg,
      new cmd heading: 255.152697 deg.

2025-09-19T23:59:00.062Z,1758326340.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453255 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:59:00.193Z,1758326340.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991523
2025-09-19T23:59:00.440Z,1758326340.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:59:00.443Z,1758326340.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 280.866974 m,
      bearing: 269.467313 deg,
      approach rate: -0.551619 m/s,
      LOS rate: -0.012270 deg/s,
      cmd heading: 255.152699 deg,
      new cmd heading: 255.143325 deg.

2025-09-19T23:59:00.445Z,1758326340.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243479
2025-09-19T23:59:00.445Z,1758326340.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453091 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:59:00.699Z,1758326340.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497560
2025-09-19T23:59:00.871Z,1758326340.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:59:00.874Z,1758326340.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 280.632324 m,
      bearing: 269.462278 deg,
      approach rate: -0.543845 m/s,
      LOS rate: -0.011679 deg/s,
      cmd heading: 255.143328 deg,
      new cmd heading: 255.133251 deg.

2025-09-19T23:59:00.875Z,1758326340.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452915 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:59:00.950Z,1758326340.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747784
2025-09-19T23:59:01.202Z,1758326341.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000286
2025-09-19T23:59:01.259Z,1758326341.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:01.277Z,1758326341.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:59:01.280Z,1758326341.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 280.423462 m,
      bearing: 269.457798 deg,
      approach rate: -0.514428 m/s,
      LOS rate: -0.011044 deg/s,
      cmd heading: 255.133247 deg,
      new cmd heading: 255.124279 deg.

2025-09-19T23:59:01.281Z,1758326341.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452759 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:59:01.453Z,1758326341.453 [DAT](INFO): DAT read: Rx Time:23:59:02.4042

2025-09-19T23:59:01.453Z,1758326341.453 [DAT](INFO): Rx dataTimestamp_ set to:1758326341.453128
2025-09-19T23:59:01.454Z,1758326341.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252461
2025-09-19T23:59:01.645Z,1758326341.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:59:01.664Z,1758326341.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 280.211487 m,
      bearing: 269.453242 deg,
      approach rate: -0.576032 m/s,
      LOS rate: -0.012389 deg/s,
      cmd heading: 255.124286 deg,
      new cmd heading: 255.115168 deg.

2025-09-19T23:59:01.665Z,1758326341.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452600 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:59:01.706Z,1758326341.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504110
2025-09-19T23:59:01.960Z,1758326341.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758479
2025-09-19T23:59:02.084Z,1758326342.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.63 m.
2025-09-19T23:59:02.087Z,1758326342.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.633331 m,
      nav range: 279.980347 m,
      bearing: 269.448461 deg,
      approach rate: -0.526726 m/s,
      LOS rate: -0.010904 deg/s,
      cmd heading: 255.115161 deg,
      new cmd heading: 255.105591 deg.

2025-09-19T23:59:02.089Z,1758326342.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452433 target range: 291.633331 and range: 292.40 m.
2025-09-19T23:59:02.219Z,1758326342.219 [DAT](INFO): DAT read: 23:59:02.4042 LVL= 24480, 29073, 28658, 30355, AGC= 69, IDX= 414, 0.19,-1.780, 2.865,-1.913,-2.631, PHS= 0.954,-0.742, 0.675, RAW= 141.2, -11.3, CAL= 141.4, -13.5, ROT=   8.6,  13.5

2025-09-19T23:59:02.221Z,1758326342.221 [DAT](INFO): got valid direction response:
 23:59:02.4042 LVL= 24480, 29073, 28658, 30355, AGC= 69, IDX= 414, 0.19,-1.780, 2.865,-1.913,-2.631, PHS= 0.954,-0.742, 0.675, RAW= 141.2, -11.3, CAL= 141.4, -13.5, ROT=   8.6,  13.5

2025-09-19T23:59:02.223Z,1758326342.223 [DAT](INFO): DAT read: Bearing  28.9,   4.4 (Local)

2025-09-19T23:59:02.223Z,1758326342.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.9,   4.4 (Local)

2025-09-19T23:59:02.244Z,1758326342.244 [DAT](INFO): DAT read: Range 11 to 50 : 290.9 m  (Round-trip  387.9 ms) speed  0.8 m/s

2025-09-19T23:59:02.245Z,1758326342.245 [DAT](INFO): DAT read: user:632>

2025-09-19T23:59:02.246Z,1758326342.246 [DAT](INFO): DAT read: Tx time:23:59:03.5122

2025-09-19T23:59:02.246Z,1758326342.246 [DAT](INFO): Ping request sent.
2025-09-19T23:59:02.246Z,1758326342.246 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:02.247Z,1758326342.247 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:02.248Z,1758326342.248 [DAT](INFO): direction in FSK: [0.961437,0.145404,-0.233445]
2025-09-19T23:59:02.252Z,1758326342.252 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:02.252Z,1758326342.252 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:02.255Z,1758326342.255 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:02.256Z,1758326342.256 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:02.531Z,1758326342.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 290.899994 m,
      deltaT: 4.031807 s,
      deltaX: -1.500000 m,
      approachRate: -0.372042 m/s,
      rangeRepo size: 4

2025-09-19T23:59:02.533Z,1758326342.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 290.137909 m,
      bearing: 263.679751 deg,
      lat: 36.779426 deg,
      lon: -121.859936 deg,
      deltaT: 4.031807 s,
      deltaX: -1.495422 m,
      approachRate: -0.370906 m/s,
      posRepo size: 4

2025-09-19T23:59:02.534Z,1758326342.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:02.537Z,1758326342.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 277.768402 m,
      bearing: 263.713224 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010904 deg/s,
      cmd heading: 255.105598 deg,
      new cmd heading: 255.095872 deg.

2025-09-19T23:59:02.538Z,1758326342.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452263 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:02.970Z,1758326342.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:02.976Z,1758326342.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 277.547821 m,
      bearing: 263.703419 deg,
      approach rate: -0.502038 m/s,
      LOS rate: -0.022335 deg/s,
      cmd heading: 255.095872 deg,
      new cmd heading: 255.076245 deg.

2025-09-19T23:59:02.977Z,1758326342.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451921 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:03.322Z,1758326343.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:03.324Z,1758326343.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:03.327Z,1758326343.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 277.370331 m,
      bearing: 263.695507 deg,
      approach rate: -0.500942 m/s,
      LOS rate: -0.022345 deg/s,
      cmd heading: 255.076256 deg,
      new cmd heading: 255.060422 deg.

2025-09-19T23:59:03.328Z,1758326343.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451644 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:03.469Z,1758326343.469 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:03.469Z,1758326343.469 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:03.469Z,1758326343.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:03.722Z,1758326343.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475379
2025-09-19T23:59:03.757Z,1758326343.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:03.766Z,1758326343.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 277.162598 m,
      bearing: 263.686226 deg,
      approach rate: -0.479655 m/s,
      LOS rate: -0.021445 deg/s,
      cmd heading: 255.060410 deg,
      new cmd heading: 255.041834 deg.

2025-09-19T23:59:03.775Z,1758326343.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451320 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:03.973Z,1758326343.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726906
2025-09-19T23:59:04.125Z,1758326344.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:04.128Z,1758326344.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 276.962494 m,
      bearing: 263.677835 deg,
      approach rate: -0.543683 m/s,
      LOS rate: -0.022816 deg/s,
      cmd heading: 255.041832 deg,
      new cmd heading: 255.025037 deg.

2025-09-19T23:59:04.129Z,1758326344.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451026 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:04.226Z,1758326344.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979707
2025-09-19T23:59:04.477Z,1758326344.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230624
2025-09-19T23:59:04.513Z,1758326344.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:04.515Z,1758326344.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 276.769897 m,
      bearing: 263.669736 deg,
      approach rate: -0.496778 m/s,
      LOS rate: -0.020904 deg/s,
      cmd heading: 255.025029 deg,
      new cmd heading: 255.008821 deg.

2025-09-19T23:59:04.517Z,1758326344.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450744 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:04.730Z,1758326344.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483182
2025-09-19T23:59:04.948Z,1758326344.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:04.951Z,1758326344.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 276.559052 m,
      bearing: 263.660828 deg,
      approach rate: -0.484255 m/s,
      LOS rate: -0.020475 deg/s,
      cmd heading: 255.008828 deg,
      new cmd heading: 254.990998 deg.

2025-09-19T23:59:04.952Z,1758326344.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450432 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:04.982Z,1758326344.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734802
2025-09-19T23:59:05.233Z,1758326345.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986624
2025-09-19T23:59:05.325Z,1758326345.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:05.327Z,1758326345.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:05.330Z,1758326345.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 276.375610 m,
      bearing: 263.653024 deg,
      approach rate: -0.483692 m/s,
      LOS rate: -0.020590 deg/s,
      cmd heading: 254.990988 deg,
      new cmd heading: 254.975370 deg.

2025-09-19T23:59:05.331Z,1758326345.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450160 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:05.485Z,1758326345.485 [DAT](INFO): DAT read: Rx Time:23:59:06.3008

2025-09-19T23:59:05.485Z,1758326345.485 [DAT](INFO): Rx dataTimestamp_ set to:1758326345.485027
2025-09-19T23:59:05.486Z,1758326345.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239495
2025-09-19T23:59:05.753Z,1758326345.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507089
2025-09-19T23:59:05.763Z,1758326345.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.14 m.
2025-09-19T23:59:05.766Z,1758326345.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.137909 m,
      nav range: 276.178192 m,
      bearing: 263.644613 deg,
      approach rate: -0.453254 m/s,
      LOS rate: -0.019325 deg/s,
      cmd heading: 254.975360 deg,
      new cmd heading: 254.958526 deg.

2025-09-19T23:59:05.767Z,1758326345.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449866 target range: 290.137909 and range: 290.90 m.
2025-09-19T23:59:06.011Z,1758326346.011 [DAT](INFO): DAT read: 23:59:06.3008 LVL= 31280, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.09, 0.494,-1.146, 0.456,-0.295, PHS= 0.891,-0.806, 0.707, RAW= 144.3,  -9.9, CAL= 144.7, -11.7, ROT=   5.3,  11.7

2025-09-19T23:59:06.012Z,1758326346.012 [DAT](INFO): got valid direction response:
 23:59:06.3008 LVL= 31280, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.09, 0.494,-1.146, 0.456,-0.295, PHS= 0.891,-0.806, 0.707, RAW= 144.3,  -9.9, CAL= 144.7, -11.7, ROT=   5.3,  11.7

2025-09-19T23:59:06.013Z,1758326346.013 [DAT](INFO): DAT read: Bearing  29.8,   1.1 (Local)

2025-09-19T23:59:06.013Z,1758326346.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.8,   1.1 (Local)

2025-09-19T23:59:06.014Z,1758326346.014 [DAT](INFO): DAT read: Range 11 to 50 : 288.3 m  (Round-trip  384.5 ms) speed  0.2 m/s

2025-09-19T23:59:06.015Z,1758326346.015 [DAT](INFO): DAT read: user:633>

2025-09-19T23:59:06.017Z,1758326346.017 [DAT](INFO): DAT read: Tx time:23:59:07.4137

2025-09-19T23:59:06.017Z,1758326346.017 [DAT](INFO): Ping request sent.
2025-09-19T23:59:06.017Z,1758326346.017 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:06.017Z,1758326346.017 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:06.018Z,1758326346.018 [DAT](INFO): direction in FSK: [0.975036,0.090451,-0.202787]
2025-09-19T23:59:06.019Z,1758326346.019 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:06.019Z,1758326346.019 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:06.022Z,1758326346.022 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:06.022Z,1758326346.022 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:06.284Z,1758326346.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.299988 m,
      deltaT: 3.795100 s,
      deltaX: -2.600006 m,
      approachRate: -0.685096 m/s,
      rangeRepo size: 4

2025-09-19T23:59:06.286Z,1758326346.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 287.544037 m,
      bearing: 260.412772 deg,
      lat: 36.779343 deg,
      lon: -121.859928 deg,
      deltaT: 3.795100 s,
      deltaX: -2.593872 m,
      approachRate: -0.683479 m/s,
      posRepo size: 4

2025-09-19T23:59:06.287Z,1758326346.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:06.290Z,1758326346.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 276.377686 m,
      bearing: 261.719671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019325 deg/s,
      cmd heading: 254.958531 deg,
      new cmd heading: 254.938423 deg.

2025-09-19T23:59:06.291Z,1758326346.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449515 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:06.616Z,1758326346.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:06.619Z,1758326346.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 276.216339 m,
      bearing: 261.710984 deg,
      approach rate: -0.485016 m/s,
      LOS rate: -0.026127 deg/s,
      cmd heading: 254.938423 deg,
      new cmd heading: 254.921040 deg.

2025-09-19T23:59:06.620Z,1758326346.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449212 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:07.047Z,1758326347.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:07.050Z,1758326347.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 276.001495 m,
      bearing: 261.699885 deg,
      approach rate: -0.497967 m/s,
      LOS rate: -0.025747 deg/s,
      cmd heading: 254.921047 deg,
      new cmd heading: 254.898830 deg.

2025-09-19T23:59:07.051Z,1758326347.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448824 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:07.422Z,1758326347.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:07.425Z,1758326347.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:07.427Z,1758326347.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 275.813843 m,
      bearing: 261.690145 deg,
      approach rate: -0.497235 m/s,
      LOS rate: -0.025824 deg/s,
      cmd heading: 254.898835 deg,
      new cmd heading: 254.879344 deg.

2025-09-19T23:59:07.428Z,1758326347.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448484 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:07.525Z,1758326347.525 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:07.525Z,1758326347.525 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:07.525Z,1758326347.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:07.777Z,1758326347.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759808
2025-09-19T23:59:07.894Z,1758326347.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:07.901Z,1758326347.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 275.612061 m,
      bearing: 261.679660 deg,
      approach rate: -0.430277 m/s,
      LOS rate: -0.022375 deg/s,
      cmd heading: 254.879355 deg,
      new cmd heading: 254.858369 deg.

2025-09-19T23:59:07.902Z,1758326347.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448118 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:08.030Z,1758326348.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012707
2025-09-19T23:59:08.266Z,1758326348.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:08.269Z,1758326348.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 275.388672 m,
      bearing: 261.668054 deg,
      approach rate: -0.599543 m/s,
      LOS rate: -0.031175 deg/s,
      cmd heading: 254.858373 deg,
      new cmd heading: 254.835141 deg.

2025-09-19T23:59:08.270Z,1758326348.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447712 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:08.281Z,1758326348.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263965
2025-09-19T23:59:08.533Z,1758326348.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515832
2025-09-19T23:59:08.661Z,1758326348.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:08.664Z,1758326348.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 275.186249 m,
      bearing: 261.657519 deg,
      approach rate: -0.512588 m/s,
      LOS rate: -0.026697 deg/s,
      cmd heading: 254.835150 deg,
      new cmd heading: 254.814065 deg.

2025-09-19T23:59:08.665Z,1758326348.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447344 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:08.786Z,1758326348.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769005
2025-09-19T23:59:09.037Z,1758326349.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019846
2025-09-19T23:59:09.097Z,1758326349.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:09.100Z,1758326349.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 274.957275 m,
      bearing: 261.644658 deg,
      approach rate: -0.525350 m/s,
      LOS rate: -0.029532 deg/s,
      cmd heading: 254.814059 deg,
      new cmd heading: 254.788315 deg.

2025-09-19T23:59:09.101Z,1758326349.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446895 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:09.289Z,1758326349.289 [DAT](INFO): DAT read: Rx Time:23:59:10.1799

2025-09-19T23:59:09.289Z,1758326349.289 [DAT](INFO): Rx dataTimestamp_ set to:1758326349.289178
2025-09-19T23:59:09.290Z,1758326349.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272944
2025-09-19T23:59:09.452Z,1758326349.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:09.454Z,1758326349.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.54 m.
2025-09-19T23:59:09.457Z,1758326349.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.544037 m,
      nav range: 274.769562 m,
      bearing: 261.634144 deg,
      approach rate: -0.525075 m/s,
      LOS rate: -0.029430 deg/s,
      cmd heading: 254.788322 deg,
      new cmd heading: 254.767280 deg.

2025-09-19T23:59:09.458Z,1758326349.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446528 target range: 287.544037 and range: 288.30 m.
2025-09-19T23:59:09.541Z,1758326349.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523649
2025-09-19T23:59:09.799Z,1758326349.799 [DAT](INFO): DAT read: 23:59:10.1799 LVL= 24864, 27265, 30898, 29347, AGC= 70, IDX= 215, 0.49, 2.815, 1.158, 2.658, 1.980, PHS= 0.937,-0.777, 0.634, RAW= 140.5, -10.1, CAL= 140.6, -12.0, ROT=   9.4,  12.0

2025-09-19T23:59:09.800Z,1758326349.800 [DAT](INFO): got valid direction response:
 23:59:10.1799 LVL= 24864, 27265, 30898, 29347, AGC= 70, IDX= 215, 0.49, 2.815, 1.158, 2.658, 1.980, PHS= 0.937,-0.777, 0.634, RAW= 140.5, -10.1, CAL= 140.6, -12.0, ROT=   9.4,  12.0

2025-09-19T23:59:09.801Z,1758326349.801 [DAT](INFO): DAT read: Bearing  29.0,   5.0 (Local)

2025-09-19T23:59:09.801Z,1758326349.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.0,   5.0 (Local)

2025-09-19T23:59:09.803Z,1758326349.803 [DAT](INFO): DAT read: Range 11 to 50 : 271.5 m  (Round-trip  362.1 ms) speed  0.5 m/s

2025-09-19T23:59:09.803Z,1758326349.803 [DAT](INFO): DAT read: user:634>

2025-09-19T23:59:09.804Z,1758326349.804 [DAT](INFO): DAT read: Tx time:23:59:11.2622

2025-09-19T23:59:09.805Z,1758326349.805 [DAT](INFO): Ping request sent.
2025-09-19T23:59:09.805Z,1758326349.805 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:09.805Z,1758326349.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:09.806Z,1758326349.806 [DAT](INFO): direction in FSK: [0.965013,0.159757,-0.207912]
2025-09-19T23:59:09.806Z,1758326349.806 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:09.806Z,1758326349.806 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:09.810Z,1758326349.810 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:09.810Z,1758326349.810 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:10.076Z,1758326350.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 271.500000 m,
      deltaT: 3.787992 s,
      deltaX: -16.799988 m,
      approachRate: -4.435064 m/s,
      rangeRepo size: 4

2025-09-19T23:59:10.082Z,1758326350.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 270.787079 m,
      bearing: 264.561761 deg,
      lat: 36.779426 deg,
      lon: -121.859920 deg,
      deltaT: 3.787992 s,
      deltaX: -16.756958 m,
      approachRate: -4.423705 m/s,
      posRepo size: 4

2025-09-19T23:59:10.083Z,1758326350.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:10.098Z,1758326350.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 272.543549 m,
      bearing: 263.509630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029430 deg/s,
      cmd heading: 254.767285 deg,
      new cmd heading: 254.730766 deg.

2025-09-19T23:59:10.099Z,1758326350.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445890 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:10.443Z,1758326350.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:10.446Z,1758326350.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 272.327271 m,
      bearing: 263.499974 deg,
      approach rate: -0.587936 m/s,
      LOS rate: -0.026268 deg/s,
      cmd heading: 254.730758 deg,
      new cmd heading: 254.711432 deg.

2025-09-19T23:59:10.447Z,1758326350.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445553 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:10.572Z,1758326350.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:59:10.877Z,1758326350.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:10.879Z,1758326350.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 272.090759 m,
      bearing: 263.489471 deg,
      approach rate: -0.544802 m/s,
      LOS rate: -0.024216 deg/s,
      cmd heading: 254.711442 deg,
      new cmd heading: 254.690417 deg.

2025-09-19T23:59:10.881Z,1758326350.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445186 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:11.298Z,1758326351.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:11.301Z,1758326351.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 271.850769 m,
      bearing: 263.479218 deg,
      approach rate: -0.569530 m/s,
      LOS rate: -0.024352 deg/s,
      cmd heading: 254.690405 deg,
      new cmd heading: 254.669882 deg.

2025-09-19T23:59:11.302Z,1758326351.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444828 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:11.576Z,1758326351.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:59:11.682Z,1758326351.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:11.685Z,1758326351.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:11.690Z,1758326351.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 271.636902 m,
      bearing: 263.470116 deg,
      approach rate: -0.553093 m/s,
      LOS rate: -0.023558 deg/s,
      cmd heading: 254.669887 deg,
      new cmd heading: 254.651668 deg.

2025-09-19T23:59:11.692Z,1758326351.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444510 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:11.809Z,1758326351.809 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:11.809Z,1758326351.809 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:11.809Z,1758326351.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:12.065Z,1758326352.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258982
2025-09-19T23:59:12.109Z,1758326352.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:12.111Z,1758326352.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 271.400452 m,
      bearing: 263.461092 deg,
      approach rate: -0.557764 m/s,
      LOS rate: -0.021305 deg/s,
      cmd heading: 254.651664 deg,
      new cmd heading: 254.633601 deg.

2025-09-19T23:59:12.113Z,1758326352.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444195 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:12.317Z,1758326352.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511612
2025-09-19T23:59:12.485Z,1758326352.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:12.491Z,1758326352.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 271.194092 m,
      bearing: 263.453202 deg,
      approach rate: -0.548122 m/s,
      LOS rate: -0.020974 deg/s,
      cmd heading: 254.633605 deg,
      new cmd heading: 254.617812 deg.

2025-09-19T23:59:12.493Z,1758326352.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.443919 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:12.567Z,1758326352.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761928
2025-09-19T23:59:12.817Z,1758326352.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012208
2025-09-19T23:59:12.891Z,1758326352.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:12.894Z,1758326352.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 270.971802 m,
      bearing: 263.444755 deg,
      approach rate: -0.547859 m/s,
      LOS rate: -0.020835 deg/s,
      cmd heading: 254.617814 deg,
      new cmd heading: 254.600906 deg.

2025-09-19T23:59:12.895Z,1758326352.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.443624 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:13.069Z,1758326353.069 [DAT](INFO): DAT read: Rx Time:23:59:14.0467

2025-09-19T23:59:13.070Z,1758326353.070 [DAT](INFO): Rx dataTimestamp_ set to:1758326353.069540
2025-09-19T23:59:13.070Z,1758326353.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265659
2025-09-19T23:59:13.319Z,1758326353.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:13.321Z,1758326353.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516293
2025-09-19T23:59:13.324Z,1758326353.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 270.742157 m,
      bearing: 263.435578 deg,
      approach rate: -0.536462 m/s,
      LOS rate: -0.021456 deg/s,
      cmd heading: 254.600902 deg,
      new cmd heading: 254.582533 deg.

2025-09-19T23:59:13.325Z,1758326353.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.443304 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:13.573Z,1758326353.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768201
2025-09-19T23:59:13.715Z,1758326353.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:13.717Z,1758326353.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.79 m.
2025-09-19T23:59:13.721Z,1758326353.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.787079 m,
      nav range: 270.529114 m,
      bearing: 263.427052 deg,
      approach rate: -0.535289 m/s,
      LOS rate: -0.021439 deg/s,
      cmd heading: 254.582543 deg,
      new cmd heading: 254.565477 deg.

2025-09-19T23:59:13.722Z,1758326353.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.443006 target range: 270.787079 and range: 271.50 m.
2025-09-19T23:59:13.834Z,1758326353.834 [DAT](INFO): DAT read: 23:59:14.0467 LVL= 17136, 20961, 20018, 19891, AGC= 72, IDX= 115, 0.46,-3.134, 1.506,-3.109, 2.395, PHS= 0.857,-0.843, 0.735, RAW= 146.3,  -9.1, CAL= 146.6, -10.9, ROT=   3.4,  10.9

2025-09-19T23:59:13.835Z,1758326353.835 [DAT](INFO): got valid direction response:
 23:59:14.0467 LVL= 17136, 20961, 20018, 19891, AGC= 72, IDX= 115, 0.46,-3.134, 1.506,-3.109, 2.395, PHS= 0.857,-0.843, 0.735, RAW= 146.3,  -9.1, CAL= 146.6, -10.9, ROT=   3.4,  10.9

2025-09-19T23:59:13.842Z,1758326353.842 [DAT](INFO): DAT read: Bearing  29.5,  -1.1 (Local)

2025-09-19T23:59:13.842Z,1758326353.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.5,  -1.1 (Local)

2025-09-19T23:59:13.844Z,1758326353.844 [DAT](INFO): DAT read: Range 11 to 50 : 285.3 m  (Round-trip  380.4 ms) speed  0.3 m/s

2025-09-19T23:59:13.845Z,1758326353.845 [DAT](INFO): DAT read: user:635>

2025-09-19T23:59:13.846Z,1758326353.846 [DAT](INFO): DAT read: Tx time:23:59:15.1622

2025-09-19T23:59:13.846Z,1758326353.846 [DAT](INFO): Ping request sent.
2025-09-19T23:59:13.846Z,1758326353.846 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:13.846Z,1758326353.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:13.847Z,1758326353.847 [DAT](INFO): direction in FSK: [0.980230,0.058236,-0.189095]
2025-09-19T23:59:13.847Z,1758326353.847 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:13.849Z,1758326353.849 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:13.861Z,1758326353.861 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:13.861Z,1758326353.861 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:14.159Z,1758326354.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.299988 m,
      deltaT: 4.032102 s,
      deltaX: 13.799988 m,
      approachRate: 3.422529 m/s,
      rangeRepo size: 4

2025-09-19T23:59:14.166Z,1758326354.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 284.550781 m,
      bearing: 258.050539 deg,
      lat: 36.779287 deg,
      lon: -121.859918 deg,
      deltaT: 4.032102 s,
      deltaX: 13.763702 m,
      approachRate: 3.413530 m/s,
      posRepo size: 4

2025-09-19T23:59:14.167Z,1758326354.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-09-19T23:59:14.182Z,1758326354.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.550781 m,
      nav range: 272.266083 m,
      bearing: 260.194530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021439 deg/s,
      cmd heading: 254.565467 deg,
      new cmd heading: 254.546556 deg.

2025-09-19T23:59:14.188Z,1758326354.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442676 target range: 284.550781 and range: 285.30 m.
2025-09-19T23:59:14.676Z,1758326354.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-09-19T23:59:14.681Z,1758326354.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.550781 m,
      nav range: 272.001373 m,
      bearing: 260.181298 deg,
      approach rate: -0.511385 m/s,
      LOS rate: -0.025587 deg/s,
      cmd heading: 254.546561 deg,
      new cmd heading: 254.520072 deg.

2025-09-19T23:59:14.683Z,1758326354.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442213 target range: 284.550781 and range: 285.30 m.
2025-09-19T23:59:15.211Z,1758326355.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-09-19T23:59:15.218Z,1758326355.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.550781 m,
      nav range: 271.738831 m,
      bearing: 260.167523 deg,
      approach rate: -0.490594 m/s,
      LOS rate: -0.025766 deg/s,
      cmd heading: 254.520060 deg,
      new cmd heading: 254.492482 deg.

2025-09-19T23:59:15.219Z,1758326355.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441732 target range: 284.550781 and range: 285.30 m.
2025-09-19T23:59:15.681Z,1758326355.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-09-19T23:59:15.686Z,1758326355.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.550781 m,
      nav range: 271.487152 m,
      bearing: 260.154261 deg,
      approach rate: -0.536845 m/s,
      LOS rate: -0.028315 deg/s,
      cmd heading: 254.492493 deg,
      new cmd heading: 254.465945 deg.

2025-09-19T23:59:15.687Z,1758326355.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441268 target range: 284.550781 and range: 285.30 m.
2025-09-19T23:59:16.112Z,1758326356.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:16.115Z,1758326356.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-09-19T23:59:16.117Z,1758326356.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.550781 m,
      nav range: 271.265686 m,
      bearing: 260.141780 deg,
      approach rate: -0.509355 m/s,
      LOS rate: -0.028728 deg/s,
      cmd heading: 254.465938 deg,
      new cmd heading: 254.440956 deg.

2025-09-19T23:59:16.118Z,1758326356.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440833 target range: 284.550781 and range: 285.30 m.
2025-09-19T23:59:16.345Z,1758326356.345 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:16.345Z,1758326356.345 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:16.345Z,1758326356.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:16.497Z,1758326356.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-09-19T23:59:16.500Z,1758326356.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.550781 m,
      nav range: 271.075562 m,
      bearing: 260.131036 deg,
      approach rate: -0.498430 m/s,
      LOS rate: -0.028186 deg/s,
      cmd heading: 254.440966 deg,
      new cmd heading: 254.419463 deg.

2025-09-19T23:59:16.501Z,1758326356.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440457 target range: 284.550781 and range: 285.30 m.
2025-09-19T23:59:16.597Z,1758326356.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751020
2025-09-19T23:59:16.849Z,1758326356.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002736
2025-09-19T23:59:16.995Z,1758326356.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-09-19T23:59:17.041Z,1758326357.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.550781 m,
      nav range: 270.835022 m,
      bearing: 260.117422 deg,
      approach rate: -0.483729 m/s,
      LOS rate: -0.027402 deg/s,
      cmd heading: 254.419465 deg,
      new cmd heading: 254.392213 deg.

2025-09-19T23:59:17.042Z,1758326357.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439982 target range: 284.550781 and range: 285.30 m.
2025-09-19T23:59:17.102Z,1758326357.102 [DAT](INFO): DAT read: Rx Time:23:59:17.9440

2025-09-19T23:59:17.103Z,1758326357.103 [DAT](INFO): Rx dataTimestamp_ set to:1758326357.102236
2025-09-19T23:59:17.103Z,1758326357.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257242
2025-09-19T23:59:17.353Z,1758326357.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506938
2025-09-19T23:59:17.442Z,1758326357.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-09-19T23:59:17.449Z,1758326357.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.550781 m,
      nav range: 270.611206 m,
      bearing: 260.103628 deg,
      approach rate: -0.498460 m/s,
      LOS rate: -0.030747 deg/s,
      cmd heading: 254.392226 deg,
      new cmd heading: 254.364614 deg.

2025-09-19T23:59:17.450Z,1758326357.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439500 target range: 284.550781 and range: 285.30 m.
2025-09-19T23:59:17.611Z,1758326357.611 [DAT](INFO): DAT read: 23:59:17.9440 LVL= 25584, 32753, 28146, 32755, AGC= 66, IDX= 408, 0.07, 2.201, 0.666, 2.077, 1.459, PHS= 0.844,-0.747, 0.575, RAW= 140.9,  -9.1, CAL= 141.0, -10.8, ROT=   9.0,  10.8

2025-09-19T23:59:17.612Z,1758326357.612 [DAT](INFO): got valid direction response:
 23:59:17.9440 LVL= 25584, 32753, 28146, 32755, AGC= 66, IDX= 408, 0.07, 2.201, 0.666, 2.077, 1.459, PHS= 0.844,-0.747, 0.575, RAW= 140.9,  -9.1, CAL= 141.0, -10.8, ROT=   9.0,  10.8

2025-09-19T23:59:17.613Z,1758326357.613 [DAT](INFO): DAT read: Bearing  29.3,   4.4 (Local)

2025-09-19T23:59:17.613Z,1758326357.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.3,   4.4 (Local)

2025-09-19T23:59:17.614Z,1758326357.614 [DAT](INFO): DAT read: Range 11 to 50 : 283.2 m  (Round-trip  377.7 ms) speed  0.5 m/s

2025-09-19T23:59:17.615Z,1758326357.615 [DAT](INFO): DAT read: user:636>

2025-09-19T23:59:17.616Z,1758326357.616 [DAT](INFO): DAT read: Tx time:23:59:19.0622

2025-09-19T23:59:17.616Z,1758326357.616 [DAT](INFO): Ping request sent.
2025-09-19T23:59:17.616Z,1758326357.616 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:17.617Z,1758326357.617 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:17.618Z,1758326357.618 [DAT](INFO): direction in FSK: [0.970194,0.153664,-0.187381]
2025-09-19T23:59:17.618Z,1758326357.618 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:17.618Z,1758326357.618 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:17.621Z,1758326357.621 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:17.621Z,1758326357.621 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:17.841Z,1758326357.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 283.200012 m,
      deltaT: 3.779823 s,
      deltaX: -2.099976 m,
      approachRate: -0.555575 m/s,
      rangeRepo size: 4

2025-09-19T23:59:17.843Z,1758326357.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 282.456329 m,
      bearing: 263.892445 deg,
      lat: 36.779426 deg,
      lon: -121.859918 deg,
      deltaT: 3.779823 s,
      deltaX: -2.094452 m,
      approachRate: -0.554114 m/s,
      posRepo size: 4

2025-09-19T23:59:17.844Z,1758326357.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:17.862Z,1758326357.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 268.191101 m,
      bearing: 263.331140 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030747 deg/s,
      cmd heading: 254.364605 deg,
      new cmd heading: 254.340149 deg.

2025-09-19T23:59:17.863Z,1758326357.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439073 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:18.241Z,1758326358.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:18.243Z,1758326358.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:18.246Z,1758326358.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 267.988342 m,
      bearing: 263.319667 deg,
      approach rate: -0.502835 m/s,
      LOS rate: -0.028473 deg/s,
      cmd heading: 254.340153 deg,
      new cmd heading: 254.317191 deg.

2025-09-19T23:59:18.247Z,1758326358.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438673 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:18.362Z,1758326358.362 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:18.362Z,1758326358.362 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:18.362Z,1758326358.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:18.613Z,1758326358.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996745
2025-09-19T23:59:18.619Z,1758326358.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:18.622Z,1758326358.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 267.801727 m,
      bearing: 263.309097 deg,
      approach rate: -0.496154 m/s,
      LOS rate: -0.028122 deg/s,
      cmd heading: 254.317203 deg,
      new cmd heading: 254.296048 deg.

2025-09-19T23:59:18.623Z,1758326358.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438303 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:18.865Z,1758326358.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248478
2025-09-19T23:59:19.090Z,1758326359.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:19.097Z,1758326359.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 267.569855 m,
      bearing: 263.295979 deg,
      approach rate: -0.492756 m/s,
      LOS rate: -0.027902 deg/s,
      cmd heading: 254.296057 deg,
      new cmd heading: 254.269797 deg.

2025-09-19T23:59:19.098Z,1758326359.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437845 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:19.117Z,1758326359.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500512
2025-09-19T23:59:19.370Z,1758326359.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753064
2025-09-19T23:59:19.455Z,1758326359.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:19.458Z,1758326359.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 267.382507 m,
      bearing: 263.285907 deg,
      approach rate: -0.513202 m/s,
      LOS rate: -0.027609 deg/s,
      cmd heading: 254.269802 deg,
      new cmd heading: 254.249645 deg.

2025-09-19T23:59:19.459Z,1758326359.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437493 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:19.621Z,1758326359.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004484
2025-09-19T23:59:19.834Z,1758326359.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:19.837Z,1758326359.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 267.191132 m,
      bearing: 263.275629 deg,
      approach rate: -0.504423 m/s,
      LOS rate: -0.027111 deg/s,
      cmd heading: 254.249639 deg,
      new cmd heading: 254.229067 deg.

2025-09-19T23:59:19.838Z,1758326359.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437134 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:19.874Z,1758326359.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256726
2025-09-19T23:59:20.126Z,1758326360.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509097
2025-09-19T23:59:20.268Z,1758326360.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:20.270Z,1758326360.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:20.273Z,1758326360.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 266.968292 m,
      bearing: 263.264419 deg,
      approach rate: -0.511322 m/s,
      LOS rate: -0.025744 deg/s,
      cmd heading: 254.229067 deg,
      new cmd heading: 254.206628 deg.

2025-09-19T23:59:20.274Z,1758326360.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436743 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:20.377Z,1758326360.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760506
2025-09-19T23:59:20.629Z,1758326360.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012350
2025-09-19T23:59:20.649Z,1758326360.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:20.651Z,1758326360.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 266.774200 m,
      bearing: 263.254670 deg,
      approach rate: -0.512524 m/s,
      LOS rate: -0.025763 deg/s,
      cmd heading: 254.206636 deg,
      new cmd heading: 254.187123 deg.

2025-09-19T23:59:20.653Z,1758326360.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436402 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:20.881Z,1758326360.881 [DAT](INFO): DAT read: Rx Time:23:59:21.8412

2025-09-19T23:59:20.882Z,1758326360.882 [DAT](INFO): Rx dataTimestamp_ set to:1758326360.881480
2025-09-19T23:59:20.882Z,1758326360.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265870
2025-09-19T23:59:21.114Z,1758326361.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:21.121Z,1758326361.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 266.560089 m,
      bearing: 263.243924 deg,
      approach rate: -0.460277 m/s,
      LOS rate: -0.023118 deg/s,
      cmd heading: 254.187129 deg,
      new cmd heading: 254.165621 deg.

2025-09-19T23:59:21.122Z,1758326361.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436027 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:21.133Z,1758326361.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516578
2025-09-19T23:59:21.388Z,1758326361.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771201
2025-09-19T23:59:21.490Z,1758326361.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.46 m.
2025-09-19T23:59:21.494Z,1758326361.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.456329 m,
      nav range: 266.336243 m,
      bearing: 263.233921 deg,
      approach rate: -0.594803 m/s,
      LOS rate: -0.026603 deg/s,
      cmd heading: 254.165628 deg,
      new cmd heading: 254.145605 deg.

2025-09-19T23:59:21.495Z,1758326361.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435678 target range: 282.456329 and range: 283.20 m.
2025-09-19T23:59:21.643Z,1758326361.643 [DAT](INFO): DAT read: 23:59:21.8412 LVL= 28944, 32753, 32754, 32755, AGC= 73, IDX= 198,-0.07,-0.776,-2.861,-1.200,-1.154, PHS= 0.480,-1.662,-0.090, RAW= 135.1,  13.2, CAL= 134.4,  14.2, ROT=  15.6, -14.2

2025-09-19T23:59:21.644Z,1758326361.644 [DAT](INFO): got valid direction response:
 23:59:21.8412 LVL= 28944, 32753, 32754, 32755, AGC= 73, IDX= 198,-0.07,-0.776,-2.861,-1.200,-1.154, PHS= 0.480,-1.662,-0.090, RAW= 135.1,  13.2, CAL= 134.4,  14.2, ROT=  15.6, -14.2

2025-09-19T23:59:21.645Z,1758326361.645 [DAT](INFO): DAT read: Bearing  54.2,  10.5 (Local)

2025-09-19T23:59:21.646Z,1758326361.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.2,  10.5 (Local)

2025-09-19T23:59:21.647Z,1758326361.647 [DAT](INFO): DAT read: Range 11 to 50 : 281.1 m  (Round-trip  374.9 ms) speed  0.5 m/s

2025-09-19T23:59:21.656Z,1758326361.656 [DAT](INFO): DAT read: user:637>

2025-09-19T23:59:21.657Z,1758326361.657 [DAT](INFO): DAT read: Tx time:23:59:22.9622

2025-09-19T23:59:21.658Z,1758326361.658 [DAT](INFO): Ping request sent.
2025-09-19T23:59:21.658Z,1758326361.658 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:21.659Z,1758326361.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:21.662Z,1758326361.662 [DAT](INFO): direction in FSK: [0.933733,0.260703,0.245307]
2025-09-19T23:59:21.662Z,1758326361.662 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:21.662Z,1758326361.662 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:21.690Z,1758326361.690 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:21.690Z,1758326361.690 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:21.865Z,1758326361.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 281.100006 m,
      deltaT: 4.032082 s,
      deltaX: -2.100006 m,
      approachRate: -0.520824 m/s,
      rangeRepo size: 4

2025-09-19T23:59:21.867Z,1758326361.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 280.361877 m,
      bearing: 270.388566 deg,
      lat: 36.779445 deg,
      lon: -121.859918 deg,
      deltaT: 4.032082 s,
      deltaX: -2.094452 m,
      approachRate: -0.519447 m/s,
      posRepo size: 4

2025-09-19T23:59:21.867Z,1758326361.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:21.870Z,1758326361.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 265.889771 m,
      bearing: 263.696771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026603 deg/s,
      cmd heading: 254.145602 deg,
      new cmd heading: 254.125739 deg.

2025-09-19T23:59:21.871Z,1758326361.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435331 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:22.286Z,1758326362.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:22.289Z,1758326362.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:22.291Z,1758326362.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 265.662750 m,
      bearing: 263.687042 deg,
      approach rate: -0.534109 m/s,
      LOS rate: -0.022909 deg/s,
      cmd heading: 254.125739 deg,
      new cmd heading: 254.106265 deg.

2025-09-19T23:59:22.293Z,1758326362.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434991 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:22.393Z,1758326362.393 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:22.393Z,1758326362.393 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:22.393Z,1758326362.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:22.646Z,1758326362.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987317
2025-09-19T23:59:22.691Z,1758326362.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:22.693Z,1758326362.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 265.450989 m,
      bearing: 263.677984 deg,
      approach rate: -0.527113 m/s,
      LOS rate: -0.022566 deg/s,
      cmd heading: 254.106260 deg,
      new cmd heading: 254.088129 deg.

2025-09-19T23:59:22.694Z,1758326362.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434674 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:22.897Z,1758326362.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238654
2025-09-19T23:59:23.149Z,1758326363.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490710
2025-09-19T23:59:23.223Z,1758326363.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:23.226Z,1758326363.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 265.165985 m,
      bearing: 263.667436 deg,
      approach rate: -0.535238 m/s,
      LOS rate: -0.019830 deg/s,
      cmd heading: 254.088119 deg,
      new cmd heading: 254.067000 deg.

2025-09-19T23:59:23.227Z,1758326363.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434306 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:23.402Z,1758326363.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743516
2025-09-19T23:59:23.655Z,1758326363.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996216
2025-09-19T23:59:23.760Z,1758326363.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:23.763Z,1758326363.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 264.881531 m,
      bearing: 263.656926 deg,
      approach rate: -0.529586 m/s,
      LOS rate: -0.019588 deg/s,
      cmd heading: 254.067000 deg,
      new cmd heading: 254.045957 deg.

2025-09-19T23:59:23.764Z,1758326363.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433939 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:23.905Z,1758326363.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246721
2025-09-19T23:59:24.158Z,1758326364.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499599
2025-09-19T23:59:24.245Z,1758326364.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:24.248Z,1758326364.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 264.625275 m,
      bearing: 263.647276 deg,
      approach rate: -0.528066 m/s,
      LOS rate: -0.019906 deg/s,
      cmd heading: 254.045963 deg,
      new cmd heading: 254.026643 deg.

2025-09-19T23:59:24.249Z,1758326364.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433601 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:24.409Z,1758326364.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750642
2025-09-19T23:59:24.649Z,1758326364.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:24.662Z,1758326364.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003773
2025-09-19T23:59:24.674Z,1758326364.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:24.682Z,1758326364.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 264.413727 m,
      bearing: 263.639295 deg,
      approach rate: -0.494098 m/s,
      LOS rate: -0.018655 deg/s,
      cmd heading: 254.026647 deg,
      new cmd heading: 254.010673 deg.

2025-09-19T23:59:24.683Z,1758326364.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433322 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:24.913Z,1758326364.913 [DAT](INFO): DAT read: Rx Time:23:59:25.6969

2025-09-19T23:59:24.913Z,1758326364.913 [DAT](INFO): Rx dataTimestamp_ set to:1758326364.913094
2025-09-19T23:59:24.914Z,1758326364.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255729
2025-09-19T23:59:25.048Z,1758326365.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:25.050Z,1758326365.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 264.204010 m,
      bearing: 263.631418 deg,
      approach rate: -0.560772 m/s,
      LOS rate: -0.021078 deg/s,
      cmd heading: 254.010664 deg,
      new cmd heading: 253.994899 deg.

2025-09-19T23:59:25.051Z,1758326365.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433047 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:25.166Z,1758326365.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507641
2025-09-19T23:59:25.422Z,1758326365.422 [DAT](INFO): DAT read: 23:59:25.6969 LVL= 30368, 32753, 32754, 32755, AGC= 68, IDX= 502, 0.08,-2.176, 2.266,-2.574,-2.536, PHS= 0.461,-1.437,-0.083, RAW= 133.8,  12.5, CAL= 133.2,  13.6, ROT=  16.8, -13.6

2025-09-19T23:59:25.424Z,1758326365.424 [DAT](INFO): got valid direction response:
 23:59:25.6969 LVL= 30368, 32753, 32754, 32755, AGC= 68, IDX= 502, 0.08,-2.176, 2.266,-2.574,-2.536, PHS= 0.461,-1.437,-0.083, RAW= 133.8,  12.5, CAL= 133.2,  13.6, ROT=  16.8, -13.6

2025-09-19T23:59:25.425Z,1758326365.425 [DAT](INFO): DAT read: Bearing  53.0,  12.0 (Local)

2025-09-19T23:59:25.425Z,1758326365.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.0,  12.0 (Local)

2025-09-19T23:59:25.426Z,1758326365.426 [DAT](INFO): DAT read: Range 11 to 50 : 247.9 m  (Round-trip  330.6 ms) speed  0.6 m/s

2025-09-19T23:59:25.427Z,1758326365.427 [DAT](INFO): DAT read: user:638>

2025-09-19T23:59:25.428Z,1758326365.428 [DAT](INFO): DAT read: Tx time:23:59:26.8122

2025-09-19T23:59:25.428Z,1758326365.428 [DAT](INFO): Ping request sent.
2025-09-19T23:59:25.428Z,1758326365.428 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:25.428Z,1758326365.428 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:25.429Z,1758326365.429 [DAT](INFO): direction in FSK: [0.930477,0.280928,0.235142]
2025-09-19T23:59:25.430Z,1758326365.430 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:25.430Z,1758326365.430 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:25.438Z,1758326365.438 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:25.438Z,1758326365.438 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:25.593Z,1758326365.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 247.899994 m,
 deltaT: 3.779923 s,
 deltaX: -33.200012 m,
 approachRate: -8.783251 m/s,
 rangeRepo size: 4
2025-09-19T23:59:25.593Z,1758326365.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:25.600Z,1758326365.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 263.920654 m,
      bearing: 263.620556 deg,
      approach rate: -0.528363 m/s,
      LOS rate: -0.020277 deg/s,
      cmd heading: 253.994900 deg,
      new cmd heading: 253.973152 deg.

2025-09-19T23:59:25.601Z,1758326365.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432668 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:25.893Z,1758326365.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:25.895Z,1758326365.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 263.743225 m,
      bearing: 263.613741 deg,
      approach rate: -0.575688 m/s,
      LOS rate: -0.022126 deg/s,
      cmd heading: 253.973153 deg,
      new cmd heading: 253.959515 deg.

2025-09-19T23:59:25.902Z,1758326365.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432430 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:26.317Z,1758326366.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:26.319Z,1758326366.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 263.513580 m,
      bearing: 263.603662 deg,
      approach rate: -0.540537 m/s,
      LOS rate: -0.023746 deg/s,
      cmd heading: 253.959520 deg,
      new cmd heading: 253.939343 deg.

2025-09-19T23:59:26.321Z,1758326366.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432077 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:26.705Z,1758326366.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:26.707Z,1758326366.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:26.710Z,1758326366.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 263.301880 m,
      bearing: 263.594472 deg,
      approach rate: -0.542972 m/s,
      LOS rate: -0.023588 deg/s,
      cmd heading: 253.939330 deg,
      new cmd heading: 253.920936 deg.

2025-09-19T23:59:26.711Z,1758326366.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.431756 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:26.929Z,1758326366.929 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:26.929Z,1758326366.929 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:26.930Z,1758326366.930 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:27.100Z,1758326367.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:27.103Z,1758326367.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 263.088318 m,
      bearing: 263.585234 deg,
      approach rate: -0.542944 m/s,
      LOS rate: -0.023506 deg/s,
      cmd heading: 253.920943 deg,
      new cmd heading: 253.902452 deg.

2025-09-19T23:59:27.104Z,1758326367.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.431434 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:27.185Z,1758326367.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755862
2025-09-19T23:59:27.433Z,1758326367.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004611
2025-09-19T23:59:27.494Z,1758326367.494 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0003270347168,-32768,-32768,V
2025-09-19T23:59:27.510Z,1758326367.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:27.512Z,1758326367.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 262.866180 m,
      bearing: 263.575653 deg,
      approach rate: -0.542458 m/s,
      LOS rate: -0.023416 deg/s,
      cmd heading: 253.902447 deg,
      new cmd heading: 253.883269 deg.

2025-09-19T23:59:27.513Z,1758326367.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.431099 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:27.686Z,1758326367.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257287
2025-09-19T23:59:27.899Z,1758326367.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:27.902Z,1758326367.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 262.655029 m,
      bearing: 263.566562 deg,
      approach rate: -0.542646 m/s,
      LOS rate: -0.023382 deg/s,
      cmd heading: 253.883268 deg,
      new cmd heading: 253.865071 deg.

2025-09-19T23:59:27.902Z,1758326367.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430781 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:27.937Z,1758326367.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508717
2025-09-19T23:59:28.190Z,1758326368.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761770
2025-09-19T23:59:28.330Z,1758326368.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:28.333Z,1758326368.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 262.420166 m,
      bearing: 263.556815 deg,
      approach rate: -0.544741 m/s,
      LOS rate: -0.022628 deg/s,
      cmd heading: 253.865072 deg,
      new cmd heading: 253.845560 deg.

2025-09-19T23:59:28.334Z,1758326368.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430441 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:28.441Z,1758326368.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013076
2025-09-19T23:59:28.693Z,1758326368.693 [DAT](INFO): DAT read: Rx Time:23:59:29.5863

2025-09-19T23:59:28.694Z,1758326368.694 [DAT](INFO): Rx dataTimestamp_ set to:1758326368.693218
2025-09-19T23:59:28.694Z,1758326368.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265837
2025-09-19T23:59:28.751Z,1758326368.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:28.761Z,1758326368.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:28.768Z,1758326368.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 262.191925 m,
      bearing: 263.547381 deg,
      approach rate: -0.529054 m/s,
      LOS rate: -0.021888 deg/s,
      cmd heading: 253.845565 deg,
      new cmd heading: 253.826680 deg.

2025-09-19T23:59:28.769Z,1758326368.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430111 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:28.945Z,1758326368.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516596
2025-09-19T23:59:29.110Z,1758326369.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.36 m.
2025-09-19T23:59:29.113Z,1758326369.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.361877 m,
      nav range: 261.994659 m,
      bearing: 263.539245 deg,
      approach rate: -0.564995 m/s,
      LOS rate: -0.023319 deg/s,
      cmd heading: 253.826686 deg,
      new cmd heading: 253.810403 deg.

2025-09-19T23:59:29.114Z,1758326369.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429827 target range: 280.361877 and range: 281.10 m.
2025-09-19T23:59:29.218Z,1758326369.218 [DAT](INFO): DAT read: 23:59:29.5863 LVL= 25632, 30113, 30418, 32755, AGC= 68, IDX= 330, 0.13,-0.691,-2.160,-0.780,-1.374, PHS= 0.785,-0.741, 0.550, RAW= 141.8,  -8.4, CAL= 141.9,  -9.9, ROT=   8.1,   9.9

2025-09-19T23:59:29.221Z,1758326369.221 [DAT](INFO): got valid direction response:
 23:59:29.5863 LVL= 25632, 30113, 30418, 32755, AGC= 68, IDX= 330, 0.13,-0.691,-2.160,-0.780,-1.374, PHS= 0.785,-0.741, 0.550, RAW= 141.8,  -8.4, CAL= 141.9,  -9.9, ROT=   8.1,   9.9

2025-09-19T23:59:29.222Z,1758326369.222 [DAT](INFO): DAT read: Bearing  28.7,   4.9 (Local)

2025-09-19T23:59:29.222Z,1758326369.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.7,   4.9 (Local)

2025-09-19T23:59:29.223Z,1758326369.223 [DAT](INFO): DAT read: Range 11 to 50 : 277.5 m  (Round-trip  370.1 ms) speed  0.7 m/s

2025-09-19T23:59:29.224Z,1758326369.224 [DAT](INFO): DAT read: user:639>

2025-09-19T23:59:29.225Z,1758326369.225 [DAT](INFO): DAT read: Tx time:23:59:30.7121

2025-09-19T23:59:29.225Z,1758326369.225 [DAT](INFO): Ping request sent.
2025-09-19T23:59:29.225Z,1758326369.225 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:29.226Z,1758326369.226 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:29.226Z,1758326369.226 [DAT](INFO): direction in FSK: [0.975282,0.138803,-0.171929]
2025-09-19T23:59:29.227Z,1758326369.227 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:29.227Z,1758326369.227 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:29.240Z,1758326369.240 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:29.241Z,1758326369.241 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:29.546Z,1758326369.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 277.500000 m,
      deltaT: 7.561925 s,
      deltaX: -3.600006 m,
      approachRate: -0.476070 m/s,
      rangeRepo size: 4

2025-09-19T23:59:29.548Z,1758326369.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 276.770996 m,
      bearing: 262.048569 deg,
      lat: 36.779445 deg,
      lon: -121.859964 deg,
      deltaT: 7.561925 s,
      deltaX: -3.590881 m,
      approachRate: -0.474863 m/s,
      posRepo size: 4

2025-09-19T23:59:29.549Z,1758326369.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:29.552Z,1758326369.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 265.885345 m,
      bearing: 263.630586 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023319 deg/s,
      cmd heading: 253.810403 deg,
      new cmd heading: 253.790117 deg.

2025-09-19T23:59:29.553Z,1758326369.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429473 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:29.937Z,1758326369.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:29.944Z,1758326369.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 265.690826 m,
      bearing: 263.622756 deg,
      approach rate: -0.496350 m/s,
      LOS rate: -0.019993 deg/s,
      cmd heading: 253.790104 deg,
      new cmd heading: 253.774433 deg.

2025-09-19T23:59:29.945Z,1758326369.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429199 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:30.348Z,1758326370.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:30.351Z,1758326370.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 265.472260 m,
      bearing: 263.614792 deg,
      approach rate: -0.532246 m/s,
      LOS rate: -0.019411 deg/s,
      cmd heading: 253.774422 deg,
      new cmd heading: 253.758480 deg.

2025-09-19T23:59:30.352Z,1758326370.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428921 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:30.750Z,1758326370.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:30.769Z,1758326370.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 265.270660 m,
      bearing: 263.607436 deg,
      approach rate: -0.501693 m/s,
      LOS rate: -0.018319 deg/s,
      cmd heading: 253.758467 deg,
      new cmd heading: 253.743744 deg.

2025-09-19T23:59:30.770Z,1758326370.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428664 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:31.299Z,1758326371.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:31.301Z,1758326371.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:31.304Z,1758326371.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 264.994629 m,
      bearing: 263.597375 deg,
      approach rate: -0.500528 m/s,
      LOS rate: -0.018262 deg/s,
      cmd heading: 253.743741 deg,
      new cmd heading: 253.723598 deg.

2025-09-19T23:59:31.305Z,1758326371.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428312 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:31.465Z,1758326371.465 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:31.465Z,1758326371.465 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:31.465Z,1758326371.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:31.624Z,1758326371.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:31.627Z,1758326371.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 264.834137 m,
      bearing: 263.591502 deg,
      approach rate: -0.497575 m/s,
      LOS rate: -0.018219 deg/s,
      cmd heading: 253.723605 deg,
      new cmd heading: 253.711852 deg.

2025-09-19T23:59:31.628Z,1758326371.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428107 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:31.717Z,1758326371.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491960
2025-09-19T23:59:31.969Z,1758326371.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743569
2025-09-19T23:59:32.043Z,1758326372.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:32.046Z,1758326372.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 264.625916 m,
      bearing: 263.583860 deg,
      approach rate: -0.496773 m/s,
      LOS rate: -0.018249 deg/s,
      cmd heading: 253.711857 deg,
      new cmd heading: 253.696560 deg.

2025-09-19T23:59:32.047Z,1758326372.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427840 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:32.229Z,1758326372.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002702
2025-09-19T23:59:32.471Z,1758326372.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:32.473Z,1758326372.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247789
2025-09-19T23:59:32.478Z,1758326372.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 264.420166 m,
      bearing: 263.576869 deg,
      approach rate: -0.480903 m/s,
      LOS rate: -0.016352 deg/s,
      cmd heading: 253.696558 deg,
      new cmd heading: 253.682566 deg.

2025-09-19T23:59:32.479Z,1758326372.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427596 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:32.726Z,1758326372.726 [DAT](INFO): DAT read: Rx Time:23:59:33.4627

2025-09-19T23:59:32.726Z,1758326372.726 [DAT](INFO): Rx dataTimestamp_ set to:1758326372.725987
2025-09-19T23:59:32.727Z,1758326372.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501924
2025-09-19T23:59:32.837Z,1758326372.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:32.840Z,1758326372.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 264.235992 m,
      bearing: 263.570612 deg,
      approach rate: -0.502696 m/s,
      LOS rate: -0.017091 deg/s,
      cmd heading: 253.682569 deg,
      new cmd heading: 253.670046 deg.

2025-09-19T23:59:32.841Z,1758326372.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427378 target range: 276.770996 and range: 277.50 m.
2025-09-19T23:59:32.977Z,1758326372.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751557
2025-09-19T23:59:33.260Z,1758326373.260 [DAT](INFO): DAT read: 23:59:33.4627 LVL= 30704, 32753, 32754, 32755, AGC= 70, IDX= 201, 0.26, 1.418,-0.142, 1.450, 0.621, PHS= 0.899,-0.717, 0.785, RAW= 146.4, -12.3, CAL= 147.2, -14.6, ROT=   2.8,  14.6

2025-09-19T23:59:33.263Z,1758326373.263 [DAT](INFO): got valid direction response:
 23:59:33.4627 LVL= 30704, 32753, 32754, 32755, AGC= 70, IDX= 201, 0.26, 1.418,-0.142, 1.450, 0.621, PHS= 0.899,-0.717, 0.785, RAW= 146.4, -12.3, CAL= 147.2, -14.6, ROT=   2.8,  14.6

2025-09-19T23:59:33.275Z,1758326373.275 [DAT](INFO): DAT read: Bearing  23.6,   0.5 (Local)

2025-09-19T23:59:33.284Z,1758326373.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.6,   0.5 (Local)

2025-09-19T23:59:33.297Z,1758326373.297 [DAT](INFO): DAT read: Range 11 to 50 : 259.8 m  (Round-trip  346.5 ms) speed  0.4 m/s

2025-09-19T23:59:33.297Z,1758326373.297 [DAT](INFO): DAT read: user:640>

2025-09-19T23:59:33.298Z,1758326373.298 [DAT](INFO): DAT read: Tx time:23:59:34.5621

2025-09-19T23:59:33.298Z,1758326373.298 [DAT](INFO): Ping request sent.
2025-09-19T23:59:33.298Z,1758326373.298 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:33.299Z,1758326373.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:33.307Z,1758326373.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:33.316Z,1758326373.316 [DAT](INFO): direction in FSK: [0.966554,0.047272,-0.252069]
2025-09-19T23:59:33.316Z,1758326373.316 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:33.316Z,1758326373.316 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:33.319Z,1758326373.319 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:33.322Z,1758326373.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.799988 m,
      deltaT: 4.031421 s,
      deltaX: -17.700012 m,
      approachRate: -4.390514 m/s,
      rangeRepo size: 4

2025-09-19T23:59:33.323Z,1758326373.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:33.340Z,1758326373.340 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:33.343Z,1758326373.343 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:33.343Z,1758326373.343 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:33.343Z,1758326373.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:33.346Z,1758326373.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 263.996674 m,
      bearing: 263.562462 deg,
      approach rate: -0.493959 m/s,
      LOS rate: -0.016836 deg/s,
      cmd heading: 253.670057 deg,
      new cmd heading: 253.653743 deg.

2025-09-19T23:59:33.347Z,1758326373.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427093 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:33.481Z,1758326373.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.182574
2025-09-19T23:59:33.734Z,1758326373.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.435210
2025-09-19T23:59:33.798Z,1758326373.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:33.804Z,1758326373.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 263.755737 m,
      bearing: 263.552663 deg,
      approach rate: -0.506378 m/s,
      LOS rate: -0.020614 deg/s,
      cmd heading: 253.653746 deg,
      new cmd heading: 253.634130 deg.

2025-09-19T23:59:33.805Z,1758326373.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426751 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:33.985Z,1758326373.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.686357
2025-09-19T23:59:34.120Z,1758326374.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:34.122Z,1758326374.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 263.586273 m,
      bearing: 263.545771 deg,
      approach rate: -0.526048 m/s,
      LOS rate: -0.021409 deg/s,
      cmd heading: 253.634130 deg,
      new cmd heading: 253.620336 deg.

2025-09-19T23:59:34.123Z,1758326374.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426510 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:34.240Z,1758326374.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.940690
2025-09-19T23:59:34.491Z,1758326374.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.192809
2025-09-19T23:59:34.568Z,1758326374.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:34.571Z,1758326374.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 263.350189 m,
      bearing: 263.535431 deg,
      approach rate: -0.526664 m/s,
      LOS rate: -0.023089 deg/s,
      cmd heading: 253.620333 deg,
      new cmd heading: 253.599633 deg.

2025-09-19T23:59:34.588Z,1758326374.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426148 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:34.742Z,1758326374.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.443288
2025-09-19T23:59:34.950Z,1758326374.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:34.953Z,1758326374.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 263.148224 m,
      bearing: 263.526594 deg,
      approach rate: -0.528415 m/s,
      LOS rate: -0.023138 deg/s,
      cmd heading: 253.599624 deg,
      new cmd heading: 253.581936 deg.

2025-09-19T23:59:34.954Z,1758326374.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425840 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:34.993Z,1758326374.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694536
2025-09-19T23:59:35.248Z,1758326375.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948864
2025-09-19T23:59:35.430Z,1758326375.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:35.432Z,1758326375.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:35.434Z,1758326375.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 262.892975 m,
      bearing: 263.514883 deg,
      approach rate: -0.530003 m/s,
      LOS rate: -0.024339 deg/s,
      cmd heading: 253.581947 deg,
      new cmd heading: 253.558503 deg.

2025-09-19T23:59:35.435Z,1758326375.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425431 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:35.497Z,1758326375.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198691
2025-09-19T23:59:35.749Z,1758326375.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450811
2025-09-19T23:59:35.945Z,1758326375.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:35.948Z,1758326375.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 262.630646 m,
      bearing: 263.502824 deg,
      approach rate: -0.510702 m/s,
      LOS rate: -0.023500 deg/s,
      cmd heading: 253.558506 deg,
      new cmd heading: 253.534364 deg.

2025-09-19T23:59:35.949Z,1758326375.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425009 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:36.002Z,1758326376.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703562
2025-09-19T23:59:36.256Z,1758326376.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957062
2025-09-19T23:59:36.413Z,1758326376.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:36.420Z,1758326376.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 262.397430 m,
      bearing: 263.492328 deg,
      approach rate: -0.498238 m/s,
      LOS rate: -0.022444 deg/s,
      cmd heading: 253.534354 deg,
      new cmd heading: 253.513343 deg.

2025-09-19T23:59:36.421Z,1758326376.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.424643 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:36.511Z,1758326376.511 [DAT](INFO): DAT read: 23:59:37.3099 LVL= 30560, 32753, 32754, 32755, AGC= 68, IDX= 196, 0.18, 1.758,-0.280, 1.417, 1.336, PHS= 0.523,-1.571, 0.036, RAW= 137.2,  10.7, CAL= 136.7,  11.7, ROT=  13.3, -11.7

2025-09-19T23:59:36.513Z,1758326376.513 [DAT](INFO): got valid direction response:
 23:59:37.3099 LVL= 30560, 32753, 32754, 32755, AGC= 68, IDX= 196, 0.18, 1.758,-0.280, 1.417, 1.336, PHS= 0.523,-1.571, 0.036, RAW= 137.2,  10.7, CAL= 136.7,  11.7, ROT=  13.3, -11.7

2025-09-19T23:59:36.514Z,1758326376.514 [DAT](INFO): DAT read: Rx Time:23:59:37.3099

2025-09-19T23:59:36.514Z,1758326376.514 [DAT](INFO): Rx dataTimestamp_ set to:1758326376.513901
2025-09-19T23:59:36.515Z,1758326376.515 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-19T23:59:36.517Z,1758326376.517 [DAT](INFO): Received low SNR in chirp
2025-09-19T23:59:36.528Z,1758326376.528 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-19T23:59:36.529Z,1758326376.529 [DAT](INFO): direction in FSK: [0.952959,0.225270,0.202787]
2025-09-19T23:59:36.532Z,1758326376.532 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:36.533Z,1758326376.533 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:36.533Z,1758326376.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:36.757Z,1758326376.757 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:36.757Z,1758326376.757 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:36.758Z,1758326376.758 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:36.800Z,1758326376.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:36.803Z,1758326376.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 262.171967 m,
      bearing: 263.482213 deg,
      approach rate: -0.589702 m/s,
      LOS rate: -0.026479 deg/s,
      cmd heading: 253.513345 deg,
      new cmd heading: 253.493097 deg.

2025-09-19T23:59:36.804Z,1758326376.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.424289 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:37.012Z,1758326377.012 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:37.012Z,1758326377.012 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:37.013Z,1758326377.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:37.181Z,1758326377.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:37.183Z,1758326377.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 261.950043 m,
      bearing: 263.472294 deg,
      approach rate: -0.576333 m/s,
      LOS rate: -0.025780 deg/s,
      cmd heading: 253.493100 deg,
      new cmd heading: 253.473246 deg.

2025-09-19T23:59:37.185Z,1758326377.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423943 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:37.263Z,1758326377.263 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:37.263Z,1758326377.263 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:37.263Z,1758326377.263 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:37.513Z,1758326377.513 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:37.513Z,1758326377.513 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:37.513Z,1758326377.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:37.599Z,1758326377.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:37.602Z,1758326377.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:37.605Z,1758326377.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 261.729675 m,
      bearing: 263.461815 deg,
      approach rate: -0.523596 m/s,
      LOS rate: -0.024919 deg/s,
      cmd heading: 253.473238 deg,
      new cmd heading: 253.452262 deg.

2025-09-19T23:59:37.606Z,1758326377.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423576 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:37.765Z,1758326377.765 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:37.765Z,1758326377.765 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:37.765Z,1758326377.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:37.988Z,1758326377.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:37.991Z,1758326377.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 261.526855 m,
      bearing: 263.452202 deg,
      approach rate: -0.525127 m/s,
      LOS rate: -0.024909 deg/s,
      cmd heading: 253.452255 deg,
      new cmd heading: 253.433015 deg.

2025-09-19T23:59:37.992Z,1758326377.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423241 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:38.030Z,1758326378.030 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:38.030Z,1758326378.030 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:38.030Z,1758326378.030 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:38.283Z,1758326378.283 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:38.283Z,1758326378.283 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:38.283Z,1758326378.283 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:38.450Z,1758326378.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:38.457Z,1758326378.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 261.289307 m,
      bearing: 263.442136 deg,
      approach rate: -0.514258 m/s,
      LOS rate: -0.021811 deg/s,
      cmd heading: 253.433022 deg,
      new cmd heading: 253.412871 deg.

2025-09-19T23:59:38.458Z,1758326378.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422889 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:38.533Z,1758326378.533 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:38.533Z,1758326378.533 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:38.533Z,1758326378.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:38.785Z,1758326378.785 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:38.785Z,1758326378.785 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:38.785Z,1758326378.785 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:38.796Z,1758326378.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:38.799Z,1758326378.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 261.103821 m,
      bearing: 263.434296 deg,
      approach rate: -0.535792 m/s,
      LOS rate: -0.022664 deg/s,
      cmd heading: 253.412859 deg,
      new cmd heading: 253.397167 deg.

2025-09-19T23:59:38.800Z,1758326378.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422615 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:39.037Z,1758326379.037 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:39.037Z,1758326379.037 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:39.037Z,1758326379.037 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:39.212Z,1758326379.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:39.214Z,1758326379.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 260.886292 m,
      bearing: 263.425086 deg,
      approach rate: -0.523521 m/s,
      LOS rate: -0.022183 deg/s,
      cmd heading: 253.397177 deg,
      new cmd heading: 253.378742 deg.

2025-09-19T23:59:39.215Z,1758326379.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422293 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:39.293Z,1758326379.293 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:39.294Z,1758326379.294 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:39.295Z,1758326379.295 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:39.541Z,1758326379.541 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:39.541Z,1758326379.541 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:39.541Z,1758326379.541 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:39.665Z,1758326379.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:39.667Z,1758326379.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:39.670Z,1758326379.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 260.648560 m,
      bearing: 263.416925 deg,
      approach rate: -0.521605 m/s,
      LOS rate: -0.017923 deg/s,
      cmd heading: 253.378735 deg,
      new cmd heading: 253.362398 deg.

2025-09-19T23:59:39.671Z,1758326379.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422008 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:39.795Z,1758326379.795 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:39.795Z,1758326379.795 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:39.795Z,1758326379.795 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:40.011Z,1758326380.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:40.014Z,1758326380.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 260.467987 m,
      bearing: 263.410785 deg,
      approach rate: -0.525175 m/s,
      LOS rate: -0.017870 deg/s,
      cmd heading: 253.362398 deg,
      new cmd heading: 253.350109 deg.

2025-09-19T23:59:40.015Z,1758326380.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.421793 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:40.045Z,1758326380.045 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:40.045Z,1758326380.045 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:40.045Z,1758326380.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:40.297Z,1758326380.297 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:40.297Z,1758326380.297 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:40.297Z,1758326380.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:40.439Z,1758326380.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:40.442Z,1758326380.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 260.245850 m,
      bearing: 263.403944 deg,
      approach rate: -0.518801 m/s,
      LOS rate: -0.015992 deg/s,
      cmd heading: 253.350103 deg,
      new cmd heading: 253.336409 deg.

2025-09-19T23:59:40.443Z,1758326380.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.421555 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:40.550Z,1758326380.550 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:40.550Z,1758326380.550 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:40.550Z,1758326380.550 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:40.801Z,1758326380.801 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:40.801Z,1758326380.801 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:40.801Z,1758326380.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:40.839Z,1758326380.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:40.842Z,1758326380.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 260.038574 m,
      bearing: 263.397571 deg,
      approach rate: -0.519018 m/s,
      LOS rate: -0.015970 deg/s,
      cmd heading: 253.336415 deg,
      new cmd heading: 253.323660 deg.

2025-09-19T23:59:40.842Z,1758326380.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.421332 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:41.053Z,1758326381.053 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:41.053Z,1758326381.053 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:41.053Z,1758326381.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:41.217Z,1758326381.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:41.219Z,1758326381.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 259.842316 m,
      bearing: 263.391530 deg,
      approach rate: -0.519205 m/s,
      LOS rate: -0.015993 deg/s,
      cmd heading: 253.323657 deg,
      new cmd heading: 253.311566 deg.

2025-09-19T23:59:41.221Z,1758326381.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.421121 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:41.305Z,1758326381.305 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:41.305Z,1758326381.305 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:41.305Z,1758326381.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:41.557Z,1758326381.557 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:41.557Z,1758326381.557 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:41.557Z,1758326381.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:41.666Z,1758326381.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:41.685Z,1758326381.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:41.687Z,1758326381.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 259.602814 m,
      bearing: 263.384350 deg,
      approach rate: -0.511899 m/s,
      LOS rate: -0.015360 deg/s,
      cmd heading: 253.311554 deg,
      new cmd heading: 253.297180 deg.

2025-09-19T23:59:41.689Z,1758326381.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420870 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:41.733Z,1758326381.733 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-19T23:59:41.809Z,1758326381.809 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:41.809Z,1758326381.809 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:41.809Z,1758326381.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:42.032Z,1758326382.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:42.035Z,1758326382.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 259.409393 m,
      bearing: 263.378560 deg,
      approach rate: -0.556948 m/s,
      LOS rate: -0.016684 deg/s,
      cmd heading: 253.297183 deg,
      new cmd heading: 253.285595 deg.

2025-09-19T23:59:42.036Z,1758326382.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420668 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:42.061Z,1758326382.061 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:42.061Z,1758326382.061 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:42.061Z,1758326382.061 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:42.313Z,1758326382.313 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:42.313Z,1758326382.313 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:42.313Z,1758326382.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:42.459Z,1758326382.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:42.462Z,1758326382.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 259.181213 m,
      bearing: 263.371149 deg,
      approach rate: -0.534177 m/s,
      LOS rate: -0.017365 deg/s,
      cmd heading: 253.285599 deg,
      new cmd heading: 253.270764 deg.

2025-09-19T23:59:42.463Z,1758326382.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420409 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:42.566Z,1758326382.566 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:42.566Z,1758326382.566 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:42.566Z,1758326382.566 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:42.737Z,1758326382.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-19T23:59:42.817Z,1758326382.817 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:42.817Z,1758326382.817 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:42.817Z,1758326382.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:42.837Z,1758326382.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:42.840Z,1758326382.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 258.979156 m,
      bearing: 263.364577 deg,
      approach rate: -0.534312 m/s,
      LOS rate: -0.017392 deg/s,
      cmd heading: 253.270764 deg,
      new cmd heading: 253.257609 deg.

2025-09-19T23:59:42.841Z,1758326382.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420179 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:43.069Z,1758326383.069 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:43.069Z,1758326383.069 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:43.069Z,1758326383.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-19T23:59:43.238Z,1758326383.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:43.241Z,1758326383.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 258.764893 m,
      bearing: 263.357632 deg,
      approach rate: -0.534640 m/s,
      LOS rate: -0.017344 deg/s,
      cmd heading: 253.257622 deg,
      new cmd heading: 253.243721 deg.

2025-09-19T23:59:43.242Z,1758326383.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419937 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:43.322Z,1758326383.322 [DAT](INFO): Reached modem response timeout
2025-09-19T23:59:43.322Z,1758326383.322 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:43.322Z,1758326383.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:43.573Z,1758326383.573 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:43.672Z,1758326383.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:43.674Z,1758326383.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:43.677Z,1758326383.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 258.540466 m,
      bearing: 263.350361 deg,
      approach rate: -0.514465 m/s,
      LOS rate: -0.016682 deg/s,
      cmd heading: 253.243716 deg,
      new cmd heading: 253.229162 deg.

2025-09-19T23:59:43.678Z,1758326383.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419683 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:43.825Z,1758326383.825 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:44.049Z,1758326384.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:44.052Z,1758326384.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 258.331238 m,
      bearing: 263.343600 deg,
      approach rate: -0.557804 m/s,
      LOS rate: -0.018039 deg/s,
      cmd heading: 253.229154 deg,
      new cmd heading: 253.215622 deg.

2025-09-19T23:59:44.053Z,1758326384.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419446 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:44.077Z,1758326384.077 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:44.333Z,1758326384.333 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:44.505Z,1758326384.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:44.507Z,1758326384.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 258.090546 m,
      bearing: 263.335840 deg,
      approach rate: -0.528384 m/s,
      LOS rate: -0.017052 deg/s,
      cmd heading: 253.215630 deg,
      new cmd heading: 253.200095 deg.

2025-09-19T23:59:44.509Z,1758326384.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419175 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:44.585Z,1758326384.585 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:44.837Z,1758326384.837 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:44.858Z,1758326384.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:44.861Z,1758326384.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 257.898804 m,
      bearing: 263.329680 deg,
      approach rate: -0.542484 m/s,
      LOS rate: -0.017440 deg/s,
      cmd heading: 253.200085 deg,
      new cmd heading: 253.187756 deg.

2025-09-19T23:59:44.862Z,1758326384.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418960 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:45.090Z,1758326385.090 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:45.257Z,1758326385.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:45.260Z,1758326385.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 257.685883 m,
      bearing: 263.322865 deg,
      approach rate: -0.534045 m/s,
      LOS rate: -0.017108 deg/s,
      cmd heading: 253.187763 deg,
      new cmd heading: 253.174121 deg.

2025-09-19T23:59:45.261Z,1758326385.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418722 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:45.341Z,1758326385.341 [DAT](DEBUG): Acoustic response timeout
2025-09-19T23:59:45.593Z,1758326385.593 [DAT](INFO): DAT read: Response Not Received

2025-09-19T23:59:45.593Z,1758326385.593 [DAT](INFO): response not received
2025-09-19T23:59:45.594Z,1758326385.594 [DAT](INFO): DAT read: user:642>

2025-09-19T23:59:45.594Z,1758326385.594 [DAT](INFO): DAT read: Tx time:23:59:47.0121

2025-09-19T23:59:45.595Z,1758326385.595 [DAT](INFO): Ping request sent.
2025-09-19T23:59:45.595Z,1758326385.595 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:45.595Z,1758326385.595 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:45.595Z,1758326385.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-09-19T23:59:45.792Z,1758326385.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:45.794Z,1758326385.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:45.797Z,1758326385.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 257.410248 m,
      bearing: 263.311491 deg,
      approach rate: -0.513099 m/s,
      LOS rate: -0.021195 deg/s,
      cmd heading: 253.174130 deg,
      new cmd heading: 253.151358 deg.

2025-09-19T23:59:45.798Z,1758326385.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418324 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:45.845Z,1758326385.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250461
2025-09-19T23:59:46.097Z,1758326386.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502323
2025-09-19T23:59:46.141Z,1758326386.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:46.143Z,1758326386.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 257.246735 m,
      bearing: 263.304755 deg,
      approach rate: -0.478388 m/s,
      LOS rate: -0.019722 deg/s,
      cmd heading: 253.151345 deg,
      new cmd heading: 253.137863 deg.

2025-09-19T23:59:46.149Z,1758326386.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418089 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:46.349Z,1758326386.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754137
2025-09-19T23:59:46.541Z,1758326386.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:46.543Z,1758326386.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 257.024475 m,
      bearing: 263.294185 deg,
      approach rate: -0.549029 m/s,
      LOS rate: -0.026133 deg/s,
      cmd heading: 253.137876 deg,
      new cmd heading: 253.116717 deg.

2025-09-19T23:59:46.545Z,1758326386.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417720 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:46.602Z,1758326386.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007025
2025-09-19T23:59:46.853Z,1758326386.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258254
2025-09-19T23:59:46.889Z,1758326386.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:46.892Z,1758326386.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 256.845459 m,
      bearing: 263.285693 deg,
      approach rate: -0.513686 m/s,
      LOS rate: -0.024383 deg/s,
      cmd heading: 253.116729 deg,
      new cmd heading: 253.099735 deg.

2025-09-19T23:59:46.893Z,1758326386.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417424 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:47.106Z,1758326387.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511518
2025-09-19T23:59:47.314Z,1758326387.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:47.317Z,1758326387.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 256.626923 m,
      bearing: 263.275333 deg,
      approach rate: -0.514241 m/s,
      LOS rate: -0.024401 deg/s,
      cmd heading: 253.099736 deg,
      new cmd heading: 253.078997 deg.

2025-09-19T23:59:47.318Z,1758326387.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417062 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:47.357Z,1758326387.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762435
2025-09-19T23:59:47.611Z,1758326387.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015912
2025-09-19T23:59:47.747Z,1758326387.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:47.751Z,1758326387.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 256.413055 m,
      bearing: 263.265655 deg,
      approach rate: -0.494676 m/s,
      LOS rate: -0.022403 deg/s,
      cmd heading: 253.078999 deg,
      new cmd heading: 253.059628 deg.

2025-09-19T23:59:47.753Z,1758326387.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416724 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:47.862Z,1758326387.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266790
2025-09-19T23:59:48.114Z,1758326388.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519090
2025-09-19T23:59:48.152Z,1758326388.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:48.154Z,1758326388.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:48.157Z,1758326388.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 256.213867 m,
      bearing: 263.256629 deg,
      approach rate: -0.488343 m/s,
      LOS rate: -0.022147 deg/s,
      cmd heading: 253.059629 deg,
      new cmd heading: 253.041562 deg.

2025-09-19T23:59:48.158Z,1758326388.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416409 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:48.365Z,1758326388.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770232
2025-09-19T23:59:48.519Z,1758326388.519 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032703473361,35.0, +12.,1497.4,  0
2025-09-19T23:59:48.535Z,1758326388.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:48.538Z,1758326388.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 256.016235 m,
      bearing: 263.247696 deg,
      approach rate: -0.518911 m/s,
      LOS rate: -0.023473 deg/s,
      cmd heading: 253.041570 deg,
      new cmd heading: 253.023690 deg.

2025-09-19T23:59:48.539Z,1758326388.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416097 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:48.618Z,1758326388.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023194
2025-09-19T23:59:48.869Z,1758326388.869 [DAT](INFO): DAT read: Rx Time:23:59:49.7522

2025-09-19T23:59:48.870Z,1758326388.870 [DAT](INFO): Rx dataTimestamp_ set to:1758326388.869342
2025-09-19T23:59:48.870Z,1758326388.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275504
2025-09-19T23:59:48.937Z,1758326388.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.77 m.
2025-09-19T23:59:48.939Z,1758326388.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.770996 m,
      nav range: 255.815811 m,
      bearing: 263.238627 deg,
      approach rate: -0.499338 m/s,
      LOS rate: -0.022611 deg/s,
      cmd heading: 253.023702 deg,
      new cmd heading: 253.005551 deg.

2025-09-19T23:59:48.941Z,1758326388.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415780 target range: 276.770996 and range: 259.80 m.
2025-09-19T23:59:49.123Z,1758326389.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528008
2025-09-19T23:59:49.378Z,1758326389.378 [DAT](INFO): DAT read: 23:59:49.7522 LVL= 30784, 32753, 32754, 32755, AGC= 67, IDX= 365,-0.21, 1.096,-0.389, 1.070, 0.176, PHS= 1.022,-0.520, 0.850, RAW= 144.2, -18.1, CAL= 145.2, -21.0, ROT=   4.8,  21.0

2025-09-19T23:59:49.379Z,1758326389.379 [DAT](INFO): got valid direction response:
 23:59:49.7522 LVL= 30784, 32753, 32754, 32755, AGC= 67, IDX= 365,-0.21, 1.096,-0.389, 1.070, 0.176, PHS= 1.022,-0.520, 0.850, RAW= 144.2, -18.1, CAL= 145.2, -21.0, ROT=   4.8,  21.0

2025-09-19T23:59:49.381Z,1758326389.381 [DAT](INFO): DAT read: Bearing  14.3,   5.8 (Local)

2025-09-19T23:59:49.381Z,1758326389.381 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.3,   5.8 (Local)

2025-09-19T23:59:49.382Z,1758326389.382 [DAT](INFO): DAT read: Range 11 to 50 : 252.0 m  (Round-trip  336.0 ms) speed  0.2 m/s

2025-09-19T23:59:49.383Z,1758326389.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:49.388Z,1758326389.388 [DAT](INFO): direction in FSK: [0.930306,0.078120,-0.358368]
2025-09-19T23:59:49.388Z,1758326389.388 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:49.392Z,1758326389.392 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:49.392Z,1758326389.392 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:49.393Z,1758326389.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:49.413Z,1758326389.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.000000 m,
      deltaT: 16.142724 s,
      deltaX: -7.799988 m,
      approachRate: -0.483189 m/s,
      rangeRepo size: 4

2025-09-19T23:59:49.415Z,1758326389.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 251.338394 m,
      bearing: 257.243644 deg,
      lat: 36.779376 deg,
      lon: -121.859724 deg,
      deltaT: 20.174145 s,
      deltaX: -25.432602 m,
      approachRate: -1.260653 m/s,
      posRepo size: 4

2025-09-19T23:59:49.420Z,1758326389.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:49.423Z,1758326389.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 235.494324 m,
      bearing: 260.738495 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022611 deg/s,
      cmd heading: 253.005561 deg,
      new cmd heading: 252.984042 deg.

2025-09-19T23:59:49.441Z,1758326389.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415404 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:49.626Z,1758326389.626 [DAT](INFO): DAT read: user:643>

2025-09-19T23:59:49.627Z,1758326389.627 [DAT](INFO): DAT read: Tx time:23:59:50.9621

2025-09-19T23:59:49.628Z,1758326389.628 [DAT](INFO): Ping request sent.
2025-09-19T23:59:49.628Z,1758326389.628 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:49.629Z,1758326389.629 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:49.629Z,1758326389.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001068
2025-09-19T23:59:49.856Z,1758326389.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:49.862Z,1758326389.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 235.261734 m,
      bearing: 260.724223 deg,
      approach rate: -0.525060 m/s,
      LOS rate: -0.032250 deg/s,
      cmd heading: 252.984032 deg,
      new cmd heading: 252.955460 deg.

2025-09-19T23:59:49.863Z,1758326389.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414906 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:49.877Z,1758326389.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248818
2025-09-19T23:59:50.130Z,1758326390.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501349
2025-09-19T23:59:50.204Z,1758326390.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:50.206Z,1758326390.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:50.209Z,1758326390.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 235.092285 m,
      bearing: 260.713818 deg,
      approach rate: -0.483304 m/s,
      LOS rate: -0.029700 deg/s,
      cmd heading: 252.955455 deg,
      new cmd heading: 252.934629 deg.

2025-09-19T23:59:50.210Z,1758326390.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414542 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:50.381Z,1758326390.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752623
2025-09-19T23:59:50.633Z,1758326390.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004665
2025-09-19T23:59:50.652Z,1758326390.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:50.655Z,1758326390.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 234.871445 m,
      bearing: 260.701303 deg,
      approach rate: -0.498418 m/s,
      LOS rate: -0.028271 deg/s,
      cmd heading: 252.934636 deg,
      new cmd heading: 252.909584 deg.

2025-09-19T23:59:50.656Z,1758326390.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414105 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:50.885Z,1758326390.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256614
2025-09-19T23:59:51.009Z,1758326391.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:51.012Z,1758326391.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 234.673523 m,
      bearing: 260.690087 deg,
      approach rate: -0.550142 m/s,
      LOS rate: -0.031203 deg/s,
      cmd heading: 252.909583 deg,
      new cmd heading: 252.887132 deg.

2025-09-19T23:59:51.013Z,1758326391.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413713 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:51.138Z,1758326391.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509717
2025-09-19T23:59:51.389Z,1758326391.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760612
2025-09-19T23:59:51.419Z,1758326391.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:51.430Z,1758326391.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 234.459747 m,
      bearing: 260.677975 deg,
      approach rate: -0.520897 m/s,
      LOS rate: -0.029539 deg/s,
      cmd heading: 252.887126 deg,
      new cmd heading: 252.862880 deg.

2025-09-19T23:59:51.431Z,1758326391.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413290 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:51.641Z,1758326391.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012648
2025-09-19T23:59:51.829Z,1758326391.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:51.835Z,1758326391.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 234.248856 m,
      bearing: 260.666955 deg,
      approach rate: -0.514257 m/s,
      LOS rate: -0.026897 deg/s,
      cmd heading: 252.862892 deg,
      new cmd heading: 252.840832 deg.

2025-09-19T23:59:51.837Z,1758326391.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412905 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:51.894Z,1758326391.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265509
2025-09-19T23:59:52.145Z,1758326392.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516677
2025-09-19T23:59:52.213Z,1758326392.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:52.215Z,1758326392.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:52.218Z,1758326392.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 234.050598 m,
      bearing: 260.656597 deg,
      approach rate: -0.513939 m/s,
      LOS rate: -0.026873 deg/s,
      cmd heading: 252.840844 deg,
      new cmd heading: 252.820111 deg.

2025-09-19T23:59:52.219Z,1758326392.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412543 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:52.401Z,1758326392.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772993
2025-09-19T23:59:52.649Z,1758326392.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020717
2025-09-19T23:59:52.654Z,1758326392.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:52.657Z,1758326392.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 233.819412 m,
      bearing: 260.645287 deg,
      approach rate: -0.527070 m/s,
      LOS rate: -0.025812 deg/s,
      cmd heading: 252.820108 deg,
      new cmd heading: 252.797465 deg.

2025-09-19T23:59:52.658Z,1758326392.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412148 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:52.901Z,1758326392.901 [DAT](INFO): DAT read: Rx Time:23:59:53.6994

2025-09-19T23:59:52.902Z,1758326392.902 [DAT](INFO): Rx dataTimestamp_ set to:1758326392.901757
2025-09-19T23:59:52.903Z,1758326392.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274708
2025-09-19T23:59:53.036Z,1758326393.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m.
2025-09-19T23:59:53.039Z,1758326393.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.338394 m,
      nav range: 233.624832 m,
      bearing: 260.635792 deg,
      approach rate: -0.508632 m/s,
      LOS rate: -0.024840 deg/s,
      cmd heading: 252.797459 deg,
      new cmd heading: 252.778454 deg.

2025-09-19T23:59:53.044Z,1758326393.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411816 target range: 251.338394 and range: 252.00 m.
2025-09-19T23:59:53.154Z,1758326393.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525671
2025-09-19T23:59:53.410Z,1758326393.410 [DAT](INFO): DAT read: 23:59:53.6994 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 191,-0.30, 0.022,-1.936,-0.220,-0.343, PHS= 0.467,-1.547, 0.079, RAW= 139.6,  10.8, CAL= 139.0,  11.8, ROT=  11.0, -11.8

2025-09-19T23:59:53.411Z,1758326393.411 [DAT](INFO): got valid direction response:
 23:59:53.6994 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 191,-0.30, 0.022,-1.936,-0.220,-0.343, PHS= 0.467,-1.547, 0.079, RAW= 139.6,  10.8, CAL= 139.0,  11.8, ROT=  11.0, -11.8

2025-09-19T23:59:53.412Z,1758326393.412 [DAT](INFO): DAT read: Bearing  47.2,  11.5 (Local)

2025-09-19T23:59:53.413Z,1758326393.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.2,  11.5 (Local)

2025-09-19T23:59:53.414Z,1758326393.414 [DAT](INFO): DAT read: Range 11 to 50 : 249.9 m  (Round-trip  333.2 ms) speed  0.3 m/s

2025-09-19T23:59:53.415Z,1758326393.415 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:53.416Z,1758326393.416 [DAT](INFO): direction in FSK: [0.960883,0.186777,0.204496]
2025-09-19T23:59:53.417Z,1758326393.417 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:53.451Z,1758326393.451 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:53.451Z,1758326393.451 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:53.451Z,1758326393.451 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:53.535Z,1758326393.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.899994 m,
      deltaT: 4.031992 s,
      deltaX: -2.100006 m,
      approachRate: -0.520836 m/s,
      rangeRepo size: 4

2025-09-19T23:59:53.567Z,1758326393.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 249.242996 m,
      bearing: 263.913544 deg,
      lat: 36.779376 deg,
      lon: -121.859724 deg,
      deltaT: 4.031992 s,
      deltaX: -2.095398 m,
      approachRate: -0.519693 m/s,
      posRepo size: 4

2025-09-19T23:59:53.573Z,1758326393.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:53.582Z,1758326393.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 233.375916 m,
      bearing: 260.623687 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024840 deg/s,
      cmd heading: 252.778444 deg,
      new cmd heading: 252.754090 deg.

2025-09-19T23:59:53.583Z,1758326393.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411391 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:53.658Z,1758326393.658 [DAT](INFO): DAT read: user:644>

2025-09-19T23:59:53.659Z,1758326393.659 [DAT](INFO): DAT read: Tx time:23:59:55.0121

2025-09-19T23:59:53.659Z,1758326393.659 [DAT](INFO): Ping request sent.
2025-09-19T23:59:53.660Z,1758326393.660 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:53.660Z,1758326393.660 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:53.661Z,1758326393.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001713
2025-09-19T23:59:53.909Z,1758326393.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249618
2025-09-19T23:59:53.966Z,1758326393.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:53.973Z,1758326393.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 233.126709 m,
      bearing: 260.611761 deg,
      approach rate: -0.567413 m/s,
      LOS rate: -0.027183 deg/s,
      cmd heading: 252.754101 deg,
      new cmd heading: 252.730224 deg.

2025-09-19T23:59:53.974Z,1758326393.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410975 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:54.161Z,1758326394.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501813
2025-09-19T23:59:54.333Z,1758326394.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:54.335Z,1758326394.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:54.338Z,1758326394.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 232.918045 m,
      bearing: 260.601812 deg,
      approach rate: -0.565456 m/s,
      LOS rate: -0.026986 deg/s,
      cmd heading: 252.730223 deg,
      new cmd heading: 252.710306 deg.

2025-09-19T23:59:54.339Z,1758326394.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410627 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:54.415Z,1758326394.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755578
2025-09-19T23:59:54.669Z,1758326394.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009568
2025-09-19T23:59:54.776Z,1758326394.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:54.779Z,1758326394.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 232.675049 m,
      bearing: 260.590525 deg,
      approach rate: -0.550943 m/s,
      LOS rate: -0.025618 deg/s,
      cmd heading: 252.710306 deg,
      new cmd heading: 252.687707 deg.

2025-09-19T23:59:54.780Z,1758326394.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410233 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:54.921Z,1758326394.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261538
2025-09-19T23:59:55.149Z,1758326395.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:55.152Z,1758326395.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 232.469391 m,
      bearing: 260.580991 deg,
      approach rate: -0.550532 m/s,
      LOS rate: -0.025544 deg/s,
      cmd heading: 252.687711 deg,
      new cmd heading: 252.668627 deg.

2025-09-19T23:59:55.153Z,1758326395.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409899 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:55.173Z,1758326395.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513693
2025-09-19T23:59:55.425Z,1758326395.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765576
2025-09-19T23:59:55.634Z,1758326395.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:55.641Z,1758326395.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 232.225143 m,
      bearing: 260.569646 deg,
      approach rate: -0.503711 m/s,
      LOS rate: -0.023421 deg/s,
      cmd heading: 252.668614 deg,
      new cmd heading: 252.645901 deg.

2025-09-19T23:59:55.642Z,1758326395.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409503 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:55.677Z,1758326395.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017748
2025-09-19T23:59:55.929Z,1758326395.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269713
2025-09-19T23:59:55.988Z,1758326395.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:55.991Z,1758326395.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 232.025604 m,
      bearing: 260.559110 deg,
      approach rate: -0.571109 m/s,
      LOS rate: -0.030180 deg/s,
      cmd heading: 252.645911 deg,
      new cmd heading: 252.624821 deg.

2025-09-19T23:59:55.992Z,1758326395.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409135 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:56.181Z,1758326396.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521562
2025-09-19T23:59:56.378Z,1758326396.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:56.380Z,1758326396.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:56.383Z,1758326396.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 231.808167 m,
      bearing: 260.547628 deg,
      approach rate: -0.548628 m/s,
      LOS rate: -0.028998 deg/s,
      cmd heading: 252.624819 deg,
      new cmd heading: 252.601833 deg.

2025-09-19T23:59:56.384Z,1758326396.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408734 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:56.434Z,1758326396.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774299
2025-09-19T23:59:56.685Z,1758326396.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025648
2025-09-19T23:59:56.830Z,1758326396.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:56.833Z,1758326396.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 231.580292 m,
      bearing: 260.535391 deg,
      approach rate: -0.506639 m/s,
      LOS rate: -0.027234 deg/s,
      cmd heading: 252.601842 deg,
      new cmd heading: 252.577343 deg.

2025-09-19T23:59:56.834Z,1758326396.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408306 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:56.937Z,1758326396.937 [DAT](INFO): DAT read: Rx Time:23:59:57.7470

2025-09-19T23:59:56.937Z,1758326396.937 [DAT](INFO): Rx dataTimestamp_ set to:1758326396.937107
2025-09-19T23:59:56.938Z,1758326396.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278663
2025-09-19T23:59:57.189Z,1758326397.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529965
2025-09-19T23:59:57.197Z,1758326397.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.24 m.
2025-09-19T23:59:57.199Z,1758326397.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.242996 m,
      nav range: 231.385544 m,
      bearing: 260.524930 deg,
      approach rate: -0.531941 m/s,
      LOS rate: -0.028596 deg/s,
      cmd heading: 252.577336 deg,
      new cmd heading: 252.556397 deg.

2025-09-19T23:59:57.201Z,1758326397.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407941 target range: 249.242996 and range: 249.90 m.
2025-09-19T23:59:57.450Z,1758326397.450 [DAT](INFO): DAT read: 23:59:57.7470 LVL= 26032, 32753, 31506, 32755, AGC= 68, IDX= 425,-0.06, 2.972, 1.478, 2.880, 1.827, PHS= 1.246,-0.305, 1.009, RAW= 141.8, -25.5, CAL= 142.7, -27.1, ROT=   7.3,  27.1

2025-09-19T23:59:57.451Z,1758326397.451 [DAT](INFO): got valid direction response:
 23:59:57.7470 LVL= 26032, 32753, 31506, 32755, AGC= 68, IDX= 425,-0.06, 2.972, 1.478, 2.880, 1.827, PHS= 1.246,-0.305, 1.009, RAW= 141.8, -25.5, CAL= 142.7, -27.1, ROT=   7.3,  27.1

2025-09-19T23:59:57.452Z,1758326397.452 [DAT](INFO): DAT read: Bearing   7.2,   9.0 (Local)

2025-09-19T23:59:57.453Z,1758326397.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,   9.0 (Local)

2025-09-19T23:59:57.454Z,1758326397.454 [DAT](INFO): DAT read: Range 11 to 50 : 248.1 m  (Round-trip  330.9 ms) speed  0.0 m/s

2025-09-19T23:59:57.455Z,1758326397.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-19T23:59:57.457Z,1758326397.457 [DAT](INFO): direction in FSK: [0.882997,0.113115,-0.455545]
2025-09-19T23:59:57.457Z,1758326397.457 [DAT](INFO): publishing direction and range info
2025-09-19T23:59:57.461Z,1758326397.461 [DAT](INFO): ****** received valid address query ******
2025-09-19T23:59:57.462Z,1758326397.462 [DAT](INFO): ****** received valid ping request ******
2025-09-19T23:59:57.462Z,1758326397.462 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-19T23:59:57.693Z,1758326397.693 [DAT](INFO): DAT read: user:645>

2025-09-19T23:59:57.694Z,1758326397.694 [DAT](INFO): DAT read: Tx time:23:59:59.0120

2025-09-19T23:59:57.694Z,1758326397.694 [DAT](INFO): Ping request sent.
2025-09-19T23:59:57.694Z,1758326397.694 [DAT](INFO): transmitted an acoustic signal
2025-09-19T23:59:57.694Z,1758326397.694 [DAT](INFO): publishing transmit ping time
2025-09-19T23:59:57.695Z,1758326397.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-09-19T23:59:57.795Z,1758326397.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 248.100006 m,
      deltaT: 4.038112 s,
      deltaX: -1.799988 m,
      approachRate: -0.445750 m/s,
      rangeRepo size: 4

2025-09-19T23:59:57.801Z,1758326397.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 247.447998 m,
      bearing: 258.831502 deg,
      lat: 36.779329 deg,
      lon: -121.859724 deg,
      deltaT: 4.038112 s,
      deltaX: -1.794998 m,
      approachRate: -0.444514 m/s,
      posRepo size: 4

2025-09-19T23:59:57.802Z,1758326397.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-19T23:59:57.809Z,1758326397.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 231.990738 m,
      bearing: 259.249358 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028596 deg/s,
      cmd heading: 252.556408 deg,
      new cmd heading: 252.522183 deg.

2025-09-19T23:59:57.810Z,1758326397.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407343 target range: 247.447998 and range: 248.10 m.
2025-09-19T23:59:57.945Z,1758326397.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251141
2025-09-19T23:59:58.147Z,1758326398.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-19T23:59:58.150Z,1758326398.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 231.796616 m,
      bearing: 259.238140 deg,
      approach rate: -0.550090 m/s,
      LOS rate: -0.031816 deg/s,
      cmd heading: 252.522175 deg,
      new cmd heading: 252.499720 deg.

2025-09-19T23:59:58.151Z,1758326398.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406951 target range: 247.447998 and range: 248.10 m.
2025-09-19T23:59:58.198Z,1758326398.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503679
2025-09-19T23:59:58.449Z,1758326398.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755319
2025-09-19T23:59:58.541Z,1758326398.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-19T23:59:58.543Z,1758326398.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-19T23:59:58.546Z,1758326398.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 231.590454 m,
      bearing: 259.226212 deg,
      approach rate: -0.521387 m/s,
      LOS rate: -0.030191 deg/s,
      cmd heading: 252.499717 deg,
      new cmd heading: 252.475842 deg.

2025-09-19T23:59:58.547Z,1758326398.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406535 target range: 247.447998 and range: 248.10 m.
2025-09-19T23:59:58.701Z,1758326398.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006947
2025-09-19T23:59:58.953Z,1758326398.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259017
2025-09-19T23:59:58.978Z,1758326398.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-19T23:59:58.981Z,1758326398.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 231.364777 m,
      bearing: 259.212629 deg,
      approach rate: -0.518287 m/s,
      LOS rate: -0.031226 deg/s,
      cmd heading: 252.475839 deg,
      new cmd heading: 252.448646 deg.

2025-09-19T23:59:58.982Z,1758326398.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406060 target range: 247.447998 and range: 248.10 m.
2025-09-19T23:59:59.206Z,1758326399.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511571
2025-09-19T23:59:59.351Z,1758326399.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-19T23:59:59.354Z,1758326399.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 231.170746 m,
      bearing: 259.200949 deg,
      approach rate: -0.519800 m/s,
      LOS rate: -0.031315 deg/s,
      cmd heading: 252.448655 deg,
      new cmd heading: 252.425276 deg.

2025-09-19T23:59:59.355Z,1758326399.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405652 target range: 247.447998 and range: 248.10 m.
2025-09-19T23:59:59.457Z,1758326399.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762948
2025-09-19T23:59:59.709Z,1758326399.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014831
2025-09-19T23:59:59.791Z,1758326399.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-19T23:59:59.794Z,1758326399.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 230.942444 m,
      bearing: 259.188637 deg,
      approach rate: -0.518918 m/s,
      LOS rate: -0.028013 deg/s,
      cmd heading: 252.425268 deg,
      new cmd heading: 252.400619 deg.

2025-09-19T23:59:59.795Z,1758326399.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405222 target range: 247.447998 and range: 248.10 m.
2025-09-19T23:59:59.961Z,1758326399.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266948
2025-09-20T00:00:00.213Z,1758326400.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518957
2025-09-20T00:00:00.219Z,1758326400.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-20T00:00:00.222Z,1758326400.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 230.721115 m,
      bearing: 259.176695 deg,
      approach rate: -0.517481 m/s,
      LOS rate: -0.027946 deg/s,
      cmd heading: 252.400625 deg,
      new cmd heading: 252.376720 deg.

2025-09-20T00:00:00.223Z,1758326400.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404805 target range: 247.447998 and range: 248.10 m.
2025-09-20T00:00:00.466Z,1758326400.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771672
2025-09-20T00:00:00.639Z,1758326400.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:00.660Z,1758326400.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-20T00:00:00.670Z,1758326400.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 230.522659 m,
      bearing: 259.165977 deg,
      approach rate: -0.456192 m/s,
      LOS rate: -0.024659 deg/s,
      cmd heading: 252.376719 deg,
      new cmd heading: 252.355265 deg.

2025-09-20T00:00:00.671Z,1758326400.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404430 target range: 247.447998 and range: 248.10 m.
2025-09-20T00:00:00.718Z,1758326400.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024187
2025-09-20T00:00:00.969Z,1758326400.969 [DAT](INFO): DAT read: Rx Time:00:00:01.7445

2025-09-20T00:00:00.969Z,1758326400.969 [DAT](INFO): Rx dataTimestamp_ set to:1758326400.969185
2025-09-20T00:00:00.970Z,1758326400.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276025
2025-09-20T00:00:01.063Z,1758326401.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-20T00:00:01.066Z,1758326401.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 230.288376 m,
      bearing: 259.152084 deg,
      approach rate: -0.572693 m/s,
      LOS rate: -0.033997 deg/s,
      cmd heading: 252.355272 deg,
      new cmd heading: 252.327457 deg.

2025-09-20T00:00:01.067Z,1758326401.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403945 target range: 247.447998 and range: 248.10 m.
2025-09-20T00:00:01.221Z,1758326401.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526859
2025-09-20T00:00:01.417Z,1758326401.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.45 m.
2025-09-20T00:00:01.420Z,1758326401.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.447998 m,
      nav range: 230.111115 m,
      bearing: 259.141568 deg,
      approach rate: -0.500567 m/s,
      LOS rate: -0.029718 deg/s,
      cmd heading: 252.327460 deg,
      new cmd heading: 252.306412 deg.

2025-09-20T00:00:01.421Z,1758326401.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403578 target range: 247.447998 and range: 248.10 m.
2025-09-20T00:00:01.480Z,1758326401.480 [DAT](INFO): DAT read: 00:00:01.7445 LVL= 27056, 32689, 32754, 32755, AGC= 71, IDX= 181, 0.20, 3.090, 1.048, 2.841, 2.661, PHS= 0.531,-1.568, 0.136, RAW= 139.8,   9.4, CAL= 139.4,  10.3, ROT=  10.6, -10.3

2025-09-20T00:00:01.482Z,1758326401.482 [DAT](INFO): got valid direction response:
 00:00:01.7445 LVL= 27056, 32689, 32754, 32755, AGC= 71, IDX= 181, 0.20, 3.090, 1.048, 2.841, 2.661, PHS= 0.531,-1.568, 0.136, RAW= 139.8,   9.4, CAL= 139.4,  10.3, ROT=  10.6, -10.3

2025-09-20T00:00:01.482Z,1758326401.482 [DAT](INFO): DAT read: Bearing  45.2,  12.1 (Local)

2025-09-20T00:00:01.483Z,1758326401.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.2,  12.1 (Local)

2025-09-20T00:00:01.484Z,1758326401.484 [DAT](INFO): DAT read: Range 11 to 50 : 246.3 m  (Round-trip  328.4 ms) speed  0.4 m/s

2025-09-20T00:00:01.485Z,1758326401.485 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:00:01.486Z,1758326401.486 [DAT](INFO): direction in FSK: [0.967095,0.180987,0.178802]
2025-09-20T00:00:01.486Z,1758326401.486 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:01.489Z,1758326401.489 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:01.489Z,1758326401.489 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:01.490Z,1758326401.490 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:01.725Z,1758326401.725 [DAT](INFO): DAT read: user:646>

2025-09-20T00:00:01.727Z,1758326401.727 [DAT](INFO): DAT read: Tx time:00:00:03.0620

2025-09-20T00:00:01.727Z,1758326401.727 [DAT](INFO): Ping request sent.
2025-09-20T00:00:01.727Z,1758326401.727 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:00:01.727Z,1758326401.727 [DAT](INFO): publishing transmit ping time
2025-09-20T00:00:01.729Z,1758326401.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001206
2025-09-20T00:00:01.837Z,1758326401.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 246.300003 m,
      deltaT: 4.030279 s,
      deltaX: -1.800003 m,
      approachRate: -0.446620 m/s,
      rangeRepo size: 4

2025-09-20T00:00:01.839Z,1758326401.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.652527 m,
      bearing: 263.011324 deg,
      lat: 36.779329 deg,
      lon: -121.859724 deg,
      deltaT: 4.030279 s,
      deltaX: -1.795471 m,
      approachRate: -0.445496 m/s,
      posRepo size: 4

2025-09-20T00:00:01.839Z,1758326401.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:01.854Z,1758326401.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 229.902893 m,
      bearing: 259.129092 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029718 deg/s,
      cmd heading: 252.306423 deg,
      new cmd heading: 252.281539 deg.

2025-09-20T00:00:01.855Z,1758326401.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403143 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:01.977Z,1758326401.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249700
2025-09-20T00:00:02.209Z,1758326402.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:02.211Z,1758326402.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 229.715515 m,
      bearing: 259.117880 deg,
      approach rate: -0.502786 m/s,
      LOS rate: -0.030108 deg/s,
      cmd heading: 252.281534 deg,
      new cmd heading: 252.259092 deg.

2025-09-20T00:00:02.212Z,1758326402.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402752 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:02.229Z,1758326402.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501633
2025-09-20T00:00:02.482Z,1758326402.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754170
2025-09-20T00:00:02.631Z,1758326402.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:02.643Z,1758326402.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 229.505173 m,
      bearing: 259.105295 deg,
      approach rate: -0.497696 m/s,
      LOS rate: -0.029806 deg/s,
      cmd heading: 252.259103 deg,
      new cmd heading: 252.233910 deg.

2025-09-20T00:00:02.663Z,1758326402.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402312 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:02.734Z,1758326402.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006485
2025-09-20T00:00:02.985Z,1758326402.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257633
2025-09-20T00:00:03.061Z,1758326403.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:03.063Z,1758326403.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:03.066Z,1758326403.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 229.293274 m,
      bearing: 259.093660 deg,
      approach rate: -0.490910 m/s,
      LOS rate: -0.026979 deg/s,
      cmd heading: 252.233914 deg,
      new cmd heading: 252.210623 deg.

2025-09-20T00:00:03.067Z,1758326403.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401906 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:03.237Z,1758326403.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509844
2025-09-20T00:00:03.461Z,1758326403.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:03.468Z,1758326403.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 229.094788 m,
      bearing: 259.082732 deg,
      approach rate: -0.498501 m/s,
      LOS rate: -0.027469 deg/s,
      cmd heading: 252.210609 deg,
      new cmd heading: 252.188735 deg.

2025-09-20T00:00:03.469Z,1758326403.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401524 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:03.489Z,1758326403.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761713
2025-09-20T00:00:03.742Z,1758326403.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013960
2025-09-20T00:00:03.846Z,1758326403.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:03.849Z,1758326403.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 228.876099 m,
      bearing: 259.071514 deg,
      approach rate: -0.568283 m/s,
      LOS rate: -0.029181 deg/s,
      cmd heading: 252.188725 deg,
      new cmd heading: 252.166266 deg.

2025-09-20T00:00:03.850Z,1758326403.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401132 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:03.993Z,1758326403.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265847
2025-09-20T00:00:04.245Z,1758326404.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517712
2025-09-20T00:00:04.247Z,1758326404.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:04.250Z,1758326404.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 228.679443 m,
      bearing: 259.061424 deg,
      approach rate: -0.490508 m/s,
      LOS rate: -0.025189 deg/s,
      cmd heading: 252.166267 deg,
      new cmd heading: 252.146070 deg.

2025-09-20T00:00:04.251Z,1758326404.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400779 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:04.497Z,1758326404.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769523
2025-09-20T00:00:04.656Z,1758326404.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:04.659Z,1758326404.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 228.468597 m,
      bearing: 259.050583 deg,
      approach rate: -0.536500 m/s,
      LOS rate: -0.027609 deg/s,
      cmd heading: 252.146077 deg,
      new cmd heading: 252.124376 deg.

2025-09-20T00:00:04.664Z,1758326404.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400401 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:04.750Z,1758326404.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022139
2025-09-20T00:00:05.012Z,1758326405.012 [DAT](INFO): DAT read: 00:00:05.7689 LVL= 28496, 32753, 32754, 32755, AGC= 71, IDX= 186,-0.36, 1.990, 0.069, 1.770, 1.606, PHS= 0.487,-1.492, 0.120, RAW= 140.0,   9.7, CAL= 139.5,  10.6, ROT=  10.5, -10.6

2025-09-20T00:00:05.013Z,1758326405.013 [DAT](INFO): got valid direction response:
 00:00:05.7689 LVL= 28496, 32753, 32754, 32755, AGC= 71, IDX= 186,-0.36, 1.990, 0.069, 1.770, 1.606, PHS= 0.487,-1.492, 0.120, RAW= 140.0,   9.7, CAL= 139.5,  10.6, ROT=  10.5, -10.6

2025-09-20T00:00:05.014Z,1758326405.014 [DAT](INFO): DAT read: Rx Time:00:00:05.7689

2025-09-20T00:00:05.015Z,1758326405.015 [DAT](INFO): Rx dataTimestamp_ set to:1758326405.014393
2025-09-20T00:00:05.015Z,1758326405.015 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-20T00:00:05.016Z,1758326405.016 [DAT](INFO): Received low SNR in chirp
2025-09-20T00:00:05.041Z,1758326405.041 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-20T00:00:05.042Z,1758326405.042 [DAT](INFO): direction in FSK: [0.966476,0.179126,0.183951]
2025-09-20T00:00:05.045Z,1758326405.045 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:05.045Z,1758326405.045 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:05.045Z,1758326405.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:05.145Z,1758326405.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:05.147Z,1758326405.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:05.154Z,1758326405.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 228.208832 m,
      bearing: 259.037818 deg,
      approach rate: -0.512425 m/s,
      LOS rate: -0.025209 deg/s,
      cmd heading: 252.124385 deg,
      new cmd heading: 252.098826 deg.

2025-09-20T00:00:05.155Z,1758326405.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399955 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:05.253Z,1758326405.253 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:05.253Z,1758326405.253 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:05.253Z,1758326405.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:05.461Z,1758326405.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:05.463Z,1758326405.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 228.040192 m,
      bearing: 259.029515 deg,
      approach rate: -0.537462 m/s,
      LOS rate: -0.026481 deg/s,
      cmd heading: 252.098840 deg,
      new cmd heading: 252.082222 deg.

2025-09-20T00:00:05.465Z,1758326405.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399665 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:05.505Z,1758326405.505 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:05.505Z,1758326405.505 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:05.505Z,1758326405.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:05.759Z,1758326405.759 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:05.759Z,1758326405.759 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:05.760Z,1758326405.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:05.878Z,1758326405.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:05.881Z,1758326405.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 227.819885 m,
      bearing: 259.018274 deg,
      approach rate: -0.527952 m/s,
      LOS rate: -0.026965 deg/s,
      cmd heading: 252.082229 deg,
      new cmd heading: 252.059725 deg.

2025-09-20T00:00:05.882Z,1758326405.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399272 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:06.009Z,1758326406.009 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:06.009Z,1758326406.009 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:06.009Z,1758326406.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:06.256Z,1758326406.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:06.259Z,1758326406.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 227.619537 m,
      bearing: 259.008062 deg,
      approach rate: -0.529553 m/s,
      LOS rate: -0.027015 deg/s,
      cmd heading: 252.059717 deg,
      new cmd heading: 252.039275 deg.

2025-09-20T00:00:06.261Z,1758326406.261 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:06.261Z,1758326406.261 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:06.261Z,1758326406.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:06.262Z,1758326406.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398915 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:06.513Z,1758326406.513 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:06.513Z,1758326406.513 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:06.513Z,1758326406.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:06.681Z,1758326406.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:06.684Z,1758326406.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 227.405319 m,
      bearing: 258.997162 deg,
      approach rate: -0.506613 m/s,
      LOS rate: -0.025802 deg/s,
      cmd heading: 252.039281 deg,
      new cmd heading: 252.017460 deg.

2025-09-20T00:00:06.685Z,1758326406.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398534 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:06.765Z,1758326406.765 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:06.765Z,1758326406.765 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:06.765Z,1758326406.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:07.017Z,1758326407.017 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:07.017Z,1758326407.017 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:07.018Z,1758326407.018 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:07.139Z,1758326407.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:07.142Z,1758326407.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 227.161987 m,
      bearing: 258.983236 deg,
      approach rate: -0.528850 m/s,
      LOS rate: -0.030300 deg/s,
      cmd heading: 252.017451 deg,
      new cmd heading: 251.989568 deg.

2025-09-20T00:00:07.143Z,1758326407.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398047 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:07.269Z,1758326407.269 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:07.269Z,1758326407.269 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:07.269Z,1758326407.269 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:07.495Z,1758326407.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:07.498Z,1758326407.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:07.501Z,1758326407.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 226.981873 m,
      bearing: 258.972914 deg,
      approach rate: -0.502139 m/s,
      LOS rate: -0.028799 deg/s,
      cmd heading: 251.989557 deg,
      new cmd heading: 251.968897 deg.

2025-09-20T00:00:07.502Z,1758326407.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397687 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:07.521Z,1758326407.521 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:07.521Z,1758326407.521 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:07.521Z,1758326407.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:07.775Z,1758326407.775 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:07.775Z,1758326407.775 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:07.775Z,1758326407.775 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:07.927Z,1758326407.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:07.934Z,1758326407.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 226.767029 m,
      bearing: 258.961182 deg,
      approach rate: -0.501153 m/s,
      LOS rate: -0.027393 deg/s,
      cmd heading: 251.968902 deg,
      new cmd heading: 251.945416 deg.

2025-09-20T00:00:07.935Z,1758326407.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397277 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:08.026Z,1758326408.026 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:08.026Z,1758326408.026 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:08.026Z,1758326408.026 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:08.277Z,1758326408.277 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:08.277Z,1758326408.277 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:08.277Z,1758326408.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:08.314Z,1758326408.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:08.317Z,1758326408.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 226.569809 m,
      bearing: 258.950406 deg,
      approach rate: -0.508553 m/s,
      LOS rate: -0.027811 deg/s,
      cmd heading: 251.945406 deg,
      new cmd heading: 251.923836 deg.

2025-09-20T00:00:08.318Z,1758326408.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396900 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:08.530Z,1758326408.530 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:08.530Z,1758326408.530 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:08.530Z,1758326408.530 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:08.701Z,1758326408.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:08.704Z,1758326408.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 226.354507 m,
      bearing: 258.938646 deg,
      approach rate: -0.556961 m/s,
      LOS rate: -0.030450 deg/s,
      cmd heading: 251.923823 deg,
      new cmd heading: 251.900281 deg.

2025-09-20T00:00:08.705Z,1758326408.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396489 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:08.783Z,1758326408.783 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:08.784Z,1758326408.784 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:08.784Z,1758326408.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:09.033Z,1758326409.033 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:09.033Z,1758326409.033 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:09.033Z,1758326409.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:09.138Z,1758326409.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:09.141Z,1758326409.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 226.127289 m,
      bearing: 258.925609 deg,
      approach rate: -0.519955 m/s,
      LOS rate: -0.029863 deg/s,
      cmd heading: 251.900273 deg,
      new cmd heading: 251.874173 deg.

2025-09-20T00:00:09.142Z,1758326409.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396034 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:09.285Z,1758326409.285 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:09.285Z,1758326409.285 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:09.285Z,1758326409.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:09.509Z,1758326409.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:09.511Z,1758326409.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:09.514Z,1758326409.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 225.933533 m,
      bearing: 258.914466 deg,
      approach rate: -0.518894 m/s,
      LOS rate: -0.029867 deg/s,
      cmd heading: 251.874181 deg,
      new cmd heading: 251.851876 deg.

2025-09-20T00:00:09.515Z,1758326409.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395645 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:09.537Z,1758326409.537 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:09.537Z,1758326409.537 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:09.537Z,1758326409.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:09.793Z,1758326409.793 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:09.793Z,1758326409.793 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:09.793Z,1758326409.793 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:09.936Z,1758326409.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:09.939Z,1758326409.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 225.715149 m,
      bearing: 258.902908 deg,
      approach rate: -0.534532 m/s,
      LOS rate: -0.028318 deg/s,
      cmd heading: 251.851888 deg,
      new cmd heading: 251.828749 deg.

2025-09-20T00:00:09.940Z,1758326409.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395241 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:10.041Z,1758326410.041 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:10.041Z,1758326410.041 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:10.041Z,1758326410.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:10.293Z,1758326410.293 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:10.293Z,1758326410.293 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:10.293Z,1758326410.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:10.346Z,1758326410.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:10.349Z,1758326410.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 225.501740 m,
      bearing: 258.891592 deg,
      approach rate: -0.503331 m/s,
      LOS rate: -0.026716 deg/s,
      cmd heading: 251.828747 deg,
      new cmd heading: 251.806092 deg.

2025-09-20T00:00:10.350Z,1758326410.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394845 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:10.545Z,1758326410.545 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:10.545Z,1758326410.545 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:10.545Z,1758326410.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:10.713Z,1758326410.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:10.715Z,1758326410.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 225.292633 m,
      bearing: 258.880536 deg,
      approach rate: -0.567013 m/s,
      LOS rate: -0.030005 deg/s,
      cmd heading: 251.806098 deg,
      new cmd heading: 251.783967 deg.

2025-09-20T00:00:10.716Z,1758326410.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394459 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:10.799Z,1758326410.799 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:10.799Z,1758326410.799 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:10.799Z,1758326410.799 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:11.049Z,1758326411.049 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:11.049Z,1758326411.049 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:11.049Z,1758326411.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:11.152Z,1758326411.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:11.154Z,1758326411.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 225.067108 m,
      bearing: 258.867265 deg,
      approach rate: -0.513818 m/s,
      LOS rate: -0.030266 deg/s,
      cmd heading: 251.783968 deg,
      new cmd heading: 251.757399 deg.

2025-09-20T00:00:11.155Z,1758326411.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393996 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:11.301Z,1758326411.301 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:11.301Z,1758326411.301 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:11.301Z,1758326411.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:11.529Z,1758326411.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:11.531Z,1758326411.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:11.534Z,1758326411.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 224.872375 m,
      bearing: 258.855791 deg,
      approach rate: -0.512573 m/s,
      LOS rate: -0.030228 deg/s,
      cmd heading: 251.757412 deg,
      new cmd heading: 251.734444 deg.

2025-09-20T00:00:11.535Z,1758326411.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393595 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:11.553Z,1758326411.553 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:11.553Z,1758326411.553 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:11.553Z,1758326411.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:11.814Z,1758326411.814 [DAT](INFO): Reached modem response timeout
2025-09-20T00:00:11.814Z,1758326411.814 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:11.815Z,1758326411.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:11.946Z,1758326411.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:11.949Z,1758326411.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 224.654007 m,
      bearing: 258.843634 deg,
      approach rate: -0.526210 m/s,
      LOS rate: -0.029324 deg/s,
      cmd heading: 251.734436 deg,
      new cmd heading: 251.710097 deg.

2025-09-20T00:00:11.950Z,1758326411.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393170 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:12.066Z,1758326412.066 [DAT](INFO): DAT read: 

2025-09-20T00:00:12.067Z,1758326412.067 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:12.317Z,1758326412.317 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:12.326Z,1758326412.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:12.329Z,1758326412.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 224.455414 m,
      bearing: 258.832569 deg,
      approach rate: -0.523142 m/s,
      LOS rate: -0.029174 deg/s,
      cmd heading: 251.710093 deg,
      new cmd heading: 251.687943 deg.

2025-09-20T00:00:12.330Z,1758326412.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392783 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:12.569Z,1758326412.569 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:12.750Z,1758326412.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:12.755Z,1758326412.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 224.233765 m,
      bearing: 258.820228 deg,
      approach rate: -0.522754 m/s,
      LOS rate: -0.029135 deg/s,
      cmd heading: 251.687936 deg,
      new cmd heading: 251.663229 deg.

2025-09-20T00:00:12.757Z,1758326412.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392352 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:12.823Z,1758326412.823 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:12.893Z,1758326412.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:00:13.074Z,1758326413.074 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:13.167Z,1758326413.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:13.170Z,1758326413.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 224.020554 m,
      bearing: 258.808176 deg,
      approach rate: -0.511796 m/s,
      LOS rate: -0.028957 deg/s,
      cmd heading: 251.663238 deg,
      new cmd heading: 251.639111 deg.

2025-09-20T00:00:13.171Z,1758326413.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391931 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:13.325Z,1758326413.325 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:13.548Z,1758326413.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:13.550Z,1758326413.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:13.554Z,1758326413.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 223.826340 m,
      bearing: 258.797186 deg,
      approach rate: -0.506175 m/s,
      LOS rate: -0.028668 deg/s,
      cmd heading: 251.639113 deg,
      new cmd heading: 251.617114 deg.

2025-09-20T00:00:13.557Z,1758326413.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391547 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:13.581Z,1758326413.581 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:13.831Z,1758326413.831 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:13.896Z,1758326413.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:00:13.976Z,1758326413.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:13.978Z,1758326413.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 223.606918 m,
      bearing: 258.785415 deg,
      approach rate: -0.515991 m/s,
      LOS rate: -0.027708 deg/s,
      cmd heading: 251.617120 deg,
      new cmd heading: 251.593555 deg.

2025-09-20T00:00:13.979Z,1758326413.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391136 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:14.082Z,1758326414.082 [DAT](INFO): DAT read: Response Not Received

2025-09-20T00:00:14.083Z,1758326414.083 [DAT](INFO): response not received
2025-09-20T00:00:14.084Z,1758326414.084 [DAT](INFO): DAT read: user:648>Tx time:00:00:15.5120

2025-09-20T00:00:14.085Z,1758326414.085 [DAT](ERROR): No response from remote modem.
2025-09-20T00:00:14.086Z,1758326414.086 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:14.086Z,1758326414.086 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:14.341Z,1758326414.341 [DAT](INFO): DAT read: 

2025-09-20T00:00:14.341Z,1758326414.341 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:14.427Z,1758326414.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:14.429Z,1758326414.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 223.374268 m,
      bearing: 258.772921 deg,
      approach rate: -0.515854 m/s,
      LOS rate: -0.027731 deg/s,
      cmd heading: 251.593542 deg,
      new cmd heading: 251.568529 deg.

2025-09-20T00:00:14.430Z,1758326414.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390699 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:14.593Z,1758326414.593 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:14.775Z,1758326414.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:14.778Z,1758326414.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 223.194702 m,
      bearing: 258.763266 deg,
      approach rate: -0.515758 m/s,
      LOS rate: -0.027753 deg/s,
      cmd heading: 251.568517 deg,
      new cmd heading: 251.549192 deg.

2025-09-20T00:00:14.779Z,1758326414.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390362 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:14.847Z,1758326414.847 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:15.097Z,1758326415.097 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:15.195Z,1758326415.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:15.198Z,1758326415.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 222.978287 m,
      bearing: 258.751966 deg,
      approach rate: -0.515438 m/s,
      LOS rate: -0.026940 deg/s,
      cmd heading: 251.549201 deg,
      new cmd heading: 251.526578 deg.

2025-09-20T00:00:15.199Z,1758326415.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389967 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:15.349Z,1758326415.349 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:15.601Z,1758326415.601 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:15.605Z,1758326415.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:15.607Z,1758326415.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:15.610Z,1758326415.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 222.766556 m,
      bearing: 258.740914 deg,
      approach rate: -0.513544 m/s,
      LOS rate: -0.026831 deg/s,
      cmd heading: 251.526579 deg,
      new cmd heading: 251.504455 deg.

2025-09-20T00:00:15.611Z,1758326415.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389581 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:15.855Z,1758326415.855 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:15.993Z,1758326415.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:15.996Z,1758326415.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 222.570160 m,
      bearing: 258.730125 deg,
      approach rate: -0.508028 m/s,
      LOS rate: -0.027935 deg/s,
      cmd heading: 251.504449 deg,
      new cmd heading: 251.482851 deg.

2025-09-20T00:00:15.997Z,1758326415.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389204 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:16.105Z,1758326416.105 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:16.357Z,1758326416.357 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:16.373Z,1758326416.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:16.376Z,1758326416.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 222.377960 m,
      bearing: 258.719547 deg,
      approach rate: -0.505882 m/s,
      LOS rate: -0.027864 deg/s,
      cmd heading: 251.482839 deg,
      new cmd heading: 251.461666 deg.

2025-09-20T00:00:16.377Z,1758326416.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388834 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:16.609Z,1758326416.609 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:16.792Z,1758326416.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:16.795Z,1758326416.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 222.173523 m,
      bearing: 258.708271 deg,
      approach rate: -0.488288 m/s,
      LOS rate: -0.026958 deg/s,
      cmd heading: 251.461665 deg,
      new cmd heading: 251.439091 deg.

2025-09-20T00:00:16.797Z,1758326416.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388440 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:16.865Z,1758326416.865 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:17.113Z,1758326417.113 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:17.203Z,1758326417.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:17.206Z,1758326417.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 221.957306 m,
      bearing: 258.695866 deg,
      approach rate: -0.526123 m/s,
      LOS rate: -0.030214 deg/s,
      cmd heading: 251.439098 deg,
      new cmd heading: 251.414265 deg.

2025-09-20T00:00:17.207Z,1758326417.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388007 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:17.365Z,1758326417.365 [DAT](INFO): DAT read: Rx Time:00:00:18.2340

2025-09-20T00:00:17.365Z,1758326417.365 [DAT](INFO): Rx dataTimestamp_ set to:1758326417.365010
2025-09-20T00:00:17.366Z,1758326417.366 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:17.605Z,1758326417.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:17.607Z,1758326417.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-09-20T00:00:17.617Z,1758326417.617 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:17.620Z,1758326417.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.652527 m,
      nav range: 221.751831 m,
      bearing: 258.684073 deg,
      approach rate: -0.508064 m/s,
      LOS rate: -0.029187 deg/s,
      cmd heading: 251.414264 deg,
      new cmd heading: 251.390655 deg.

2025-09-20T00:00:17.625Z,1758326417.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387595 target range: 245.652527 and range: 246.30 m.
2025-09-20T00:00:17.883Z,1758326417.883 [DAT](INFO): DAT read: 00:00:18.2340 LVL= 23200, 25537, 21170, 19779, AGC= 70, IDX=  84,-0.26,-1.706,-3.067,-1.781,-2.832, PHS= 1.228,-0.190, 1.007, RAW= 141.7, -28.7, CAL= 142.7, -29.7, ROT=   7.3,  29.7

2025-09-20T00:00:17.887Z,1758326417.887 [DAT](INFO): got valid direction response:
 00:00:18.2340 LVL= 23200, 25537, 21170, 19779, AGC= 70, IDX=  84,-0.26,-1.706,-3.067,-1.781,-2.832, PHS= 1.228,-0.190, 1.007, RAW= 141.7, -28.7, CAL= 142.7, -29.7, ROT=   7.3,  29.7

2025-09-20T00:00:17.890Z,1758326417.890 [DAT](INFO): DAT read: Bearing   2.7,   9.5 (Local)

2025-09-20T00:00:17.891Z,1758326417.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,   9.5 (Local)

2025-09-20T00:00:17.897Z,1758326417.897 [DAT](INFO): DAT read: Range 11 to 50 : 238.4 m  (Round-trip  317.9 ms) speed  0.0 m/s

2025-09-20T00:00:17.900Z,1758326417.900 [DAT](INFO): DAT read: user:649>Tx time:00:00:19.3120

2025-09-20T00:00:17.902Z,1758326417.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:00:17.944Z,1758326417.944 [DAT](INFO): direction in FSK: [0.861591,0.110372,-0.495459]
2025-09-20T00:00:17.945Z,1758326417.945 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:17.972Z,1758326417.972 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:17.972Z,1758326417.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:18.121Z,1758326418.121 [DAT](INFO): DAT read: 

2025-09-20T00:00:18.121Z,1758326418.121 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:18.131Z,1758326418.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 238.399994 m,
      deltaT: 16.395496 s,
      deltaX: -7.900009 m,
      approachRate: -0.481840 m/s,
      rangeRepo size: 4

2025-09-20T00:00:18.145Z,1758326418.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 237.771637 m,
      bearing: 257.827027 deg,
      lat: 36.779329 deg,
      lon: -121.859691 deg,
      deltaT: 16.395496 s,
      deltaX: -7.880890 m,
      approachRate: -0.480674 m/s,
      posRepo size: 4

2025-09-20T00:00:18.146Z,1758326418.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:18.152Z,1758326418.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 218.644684 m,
      bearing: 258.520685 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029187 deg/s,
      cmd heading: 251.390659 deg,
      new cmd heading: 251.360118 deg.

2025-09-20T00:00:18.153Z,1758326418.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387062 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:18.373Z,1758326418.373 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:18.499Z,1758326418.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:18.501Z,1758326418.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 218.440567 m,
      bearing: 258.509535 deg,
      approach rate: -0.554732 m/s,
      LOS rate: -0.030329 deg/s,
      cmd heading: 251.360114 deg,
      new cmd heading: 251.337795 deg.

2025-09-20T00:00:18.502Z,1758326418.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386672 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:18.625Z,1758326418.625 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:18.879Z,1758326418.879 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:18.980Z,1758326418.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:18.983Z,1758326418.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 218.198807 m,
      bearing: 258.494909 deg,
      approach rate: -0.502121 m/s,
      LOS rate: -0.030411 deg/s,
      cmd heading: 251.337793 deg,
      new cmd heading: 251.308508 deg.

2025-09-20T00:00:18.985Z,1758326418.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386161 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:19.129Z,1758326419.129 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:19.322Z,1758326419.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:19.325Z,1758326419.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 218.036301 m,
      bearing: 258.485073 deg,
      approach rate: -0.475142 m/s,
      LOS rate: -0.028781 deg/s,
      cmd heading: 251.308505 deg,
      new cmd heading: 251.288818 deg.

2025-09-20T00:00:19.326Z,1758326419.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385817 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:19.382Z,1758326419.382 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:19.633Z,1758326419.633 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:19.711Z,1758326419.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:19.714Z,1758326419.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:19.744Z,1758326419.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 217.831253 m,
      bearing: 258.472668 deg,
      approach rate: -0.523416 m/s,
      LOS rate: -0.031694 deg/s,
      cmd heading: 251.288807 deg,
      new cmd heading: 251.263975 deg.

2025-09-20T00:00:19.746Z,1758326419.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385384 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:19.885Z,1758326419.885 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:20.140Z,1758326420.140 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:20.157Z,1758326420.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:20.176Z,1758326420.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 217.601456 m,
      bearing: 258.458531 deg,
      approach rate: -0.518223 m/s,
      LOS rate: -0.031914 deg/s,
      cmd heading: 251.263972 deg,
      new cmd heading: 251.235668 deg.

2025-09-20T00:00:20.177Z,1758326420.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.384890 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:20.389Z,1758326420.389 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:20.518Z,1758326420.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:20.520Z,1758326420.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 217.415451 m,
      bearing: 258.447074 deg,
      approach rate: -0.516315 m/s,
      LOS rate: -0.031830 deg/s,
      cmd heading: 251.235668 deg,
      new cmd heading: 251.212734 deg.

2025-09-20T00:00:20.521Z,1758326420.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.384490 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:20.641Z,1758326420.641 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:20.893Z,1758326420.893 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:20.986Z,1758326420.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:20.989Z,1758326420.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 217.173874 m,
      bearing: 258.432163 deg,
      approach rate: -0.516020 m/s,
      LOS rate: -0.031886 deg/s,
      cmd heading: 251.212746 deg,
      new cmd heading: 251.182891 deg.

2025-09-20T00:00:20.990Z,1758326420.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383968 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:21.145Z,1758326421.145 [DAT](INFO): DAT read: Rx Time:00:00:22.0311

2025-09-20T00:00:21.145Z,1758326421.145 [DAT](INFO): Rx dataTimestamp_ set to:1758326421.145107
2025-09-20T00:00:21.146Z,1758326421.146 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:21.354Z,1758326421.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.77 m.
2025-09-20T00:00:21.356Z,1758326421.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.771637 m,
      nav range: 216.988693 m,
      bearing: 258.421497 deg,
      approach rate: -0.503511 m/s,
      LOS rate: -0.029027 deg/s,
      cmd heading: 251.182884 deg,
      new cmd heading: 251.161533 deg.

2025-09-20T00:00:21.357Z,1758326421.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383596 target range: 237.771637 and range: 238.40 m.
2025-09-20T00:00:21.397Z,1758326421.397 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:21.655Z,1758326421.655 [DAT](INFO): DAT read: 00:00:22.0311 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 407,-0.25,-1.956, 2.527,-2.139,-2.338, PHS= 0.484,-1.373, 0.155, RAW= 140.5,   8.6, CAL= 140.0,   9.4, ROT=  10.0,  -9.4

2025-09-20T00:00:21.662Z,1758326421.662 [DAT](INFO): got valid direction response:
 00:00:22.0311 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 407,-0.25,-1.956, 2.527,-2.139,-2.338, PHS= 0.484,-1.373, 0.155, RAW= 140.5,   8.6, CAL= 140.0,   9.4, ROT=  10.0,  -9.4

2025-09-20T00:00:21.663Z,1758326421.663 [DAT](INFO): DAT read: Bearing  42.3,  11.9 (Local)

2025-09-20T00:00:21.663Z,1758326421.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.3,  11.9 (Local)

2025-09-20T00:00:21.665Z,1758326421.665 [DAT](INFO): DAT read: Range 11 to 50 : 236.2 m  (Round-trip  315.0 ms) speed  0.4 m/s

2025-09-20T00:00:21.666Z,1758326421.666 [DAT](INFO): DAT read: user:650>Tx time:00:00:23.1120

2025-09-20T00:00:21.666Z,1758326421.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:00:21.667Z,1758326421.667 [DAT](INFO): direction in FSK: [0.971584,0.171316,0.163326]
2025-09-20T00:00:21.667Z,1758326421.667 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:21.671Z,1758326421.671 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:21.671Z,1758326421.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:21.831Z,1758326421.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 236.199997 m,
      deltaT: 3.780496 s,
      deltaX: -2.199997 m,
      approachRate: -0.581933 m/s,
      rangeRepo size: 4

2025-09-20T00:00:21.837Z,1758326421.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 235.577530 m,
      bearing: 261.589071 deg,
      lat: 36.779418 deg,
      lon: -121.859852 deg,
      deltaT: 3.780496 s,
      deltaX: -2.194107 m,
      approachRate: -0.580375 m/s,
      posRepo size: 4

2025-09-20T00:00:21.838Z,1758326421.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:21.844Z,1758326421.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 229.112259 m,
      bearing: 261.533871 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029027 deg/s,
      cmd heading: 251.161547 deg,
      new cmd heading: 251.133890 deg.

2025-09-20T00:00:21.845Z,1758326421.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383113 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:21.903Z,1758326421.903 [DAT](INFO): DAT read: 

2025-09-20T00:00:21.903Z,1758326421.903 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:22.153Z,1758326422.153 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:22.251Z,1758326422.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:22.254Z,1758326422.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:22.261Z,1758326422.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 228.882797 m,
      bearing: 261.526461 deg,
      approach rate: -0.541297 m/s,
      LOS rate: -0.017497 deg/s,
      cmd heading: 251.133898 deg,
      new cmd heading: 251.119063 deg.

2025-09-20T00:00:22.262Z,1758326422.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382854 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:22.405Z,1758326422.405 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:22.634Z,1758326422.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:22.637Z,1758326422.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 228.683838 m,
      bearing: 261.520033 deg,
      approach rate: -0.522642 m/s,
      LOS rate: -0.016899 deg/s,
      cmd heading: 251.119063 deg,
      new cmd heading: 251.106196 deg.

2025-09-20T00:00:22.638Z,1758326422.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382630 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:22.657Z,1758326422.657 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:22.909Z,1758326422.909 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:23.091Z,1758326423.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:23.094Z,1758326423.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 228.455292 m,
      bearing: 261.511619 deg,
      approach rate: -0.500633 m/s,
      LOS rate: -0.018449 deg/s,
      cmd heading: 251.106195 deg,
      new cmd heading: 251.089350 deg.

2025-09-20T00:00:23.095Z,1758326423.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382336 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:23.161Z,1758326423.161 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:23.413Z,1758326423.413 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:23.432Z,1758326423.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:23.435Z,1758326423.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 228.283295 m,
      bearing: 261.505289 deg,
      approach rate: -0.504633 m/s,
      LOS rate: -0.018587 deg/s,
      cmd heading: 251.089338 deg,
      new cmd heading: 251.076667 deg.

2025-09-20T00:00:23.436Z,1758326423.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382114 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:23.665Z,1758326423.665 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:23.843Z,1758326423.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:23.846Z,1758326423.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 228.081924 m,
      bearing: 261.497861 deg,
      approach rate: -0.490035 m/s,
      LOS rate: -0.018093 deg/s,
      cmd heading: 251.076661 deg,
      new cmd heading: 251.061791 deg.

2025-09-20T00:00:23.847Z,1758326423.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381855 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:23.917Z,1758326423.917 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:24.169Z,1758326424.169 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:24.255Z,1758326424.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:24.277Z,1758326424.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:24.284Z,1758326424.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 227.863770 m,
      bearing: 261.490085 deg,
      approach rate: -0.502122 m/s,
      LOS rate: -0.017915 deg/s,
      cmd heading: 251.061799 deg,
      new cmd heading: 251.046232 deg.

2025-09-20T00:00:24.285Z,1758326424.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381583 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:24.421Z,1758326424.421 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:24.661Z,1758326424.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:24.663Z,1758326424.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 227.656204 m,
      bearing: 261.482687 deg,
      approach rate: -0.541172 m/s,
      LOS rate: -0.019306 deg/s,
      cmd heading: 251.046226 deg,
      new cmd heading: 251.031417 deg.

2025-09-20T00:00:24.665Z,1758326424.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381325 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:24.673Z,1758326424.673 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:24.925Z,1758326424.925 [DAT](INFO): DAT read: Rx Time:00:00:25.8286

2025-09-20T00:00:24.925Z,1758326424.925 [DAT](INFO): Rx dataTimestamp_ set to:1758326424.925052
2025-09-20T00:00:24.926Z,1758326424.926 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:25.098Z,1758326425.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.58 m.
2025-09-20T00:00:25.101Z,1758326425.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.577530 m,
      nav range: 227.424622 m,
      bearing: 261.475252 deg,
      approach rate: -0.530147 m/s,
      LOS rate: -0.017038 deg/s,
      cmd heading: 251.031418 deg,
      new cmd heading: 251.016533 deg.

2025-09-20T00:00:25.102Z,1758326425.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381065 target range: 235.577530 and range: 236.20 m.
2025-09-20T00:00:25.177Z,1758326425.177 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:25.438Z,1758326425.438 [DAT](INFO): DAT read: 00:00:25.8286 LVL= 29024, 32753, 31730, 32755, AGC= 68, IDX= 412, 0.14, 2.397, 0.576, 2.204, 1.976, PHS= 0.523,-1.356, 0.184, RAW= 140.3,   7.5, CAL= 139.9,   8.3, ROT=  10.1,  -8.3

2025-09-20T00:00:25.439Z,1758326425.439 [DAT](INFO): got valid direction response:
 00:00:25.8286 LVL= 29024, 32753, 31730, 32755, AGC= 68, IDX= 412, 0.14, 2.397, 0.576, 2.204, 1.976, PHS= 0.523,-1.356, 0.184, RAW= 140.3,   7.5, CAL= 139.9,   8.3, ROT=  10.1,  -8.3

2025-09-20T00:00:25.444Z,1758326425.444 [DAT](INFO): DAT read: Bearing  40.9,  12.3 (Local)

2025-09-20T00:00:25.445Z,1758326425.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.9,  12.3 (Local)

2025-09-20T00:00:25.446Z,1758326425.446 [DAT](INFO): DAT read: Range 11 to 50 : 234.3 m  (Round-trip  312.5 ms) speed  0.4 m/s

2025-09-20T00:00:25.447Z,1758326425.447 [DAT](INFO): DAT read: user:651>Tx time:00:00:26.9120

2025-09-20T00:00:25.454Z,1758326425.454 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:00:25.455Z,1758326425.455 [DAT](INFO): direction in FSK: [0.974191,0.173530,0.144356]
2025-09-20T00:00:25.455Z,1758326425.455 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:25.471Z,1758326425.471 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:25.496Z,1758326425.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:25.610Z,1758326425.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.300003 m,
      deltaT: 3.780840 s,
      deltaX: -1.899994 m,
      approachRate: -0.502532 m/s,
      rangeRepo size: 4

2025-09-20T00:00:25.617Z,1758326425.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 233.682831 m,
      bearing: 261.566191 deg,
      lat: 36.779418 deg,
      lon: -121.859864 deg,
      deltaT: 3.780840 s,
      deltaX: -1.894699 m,
      approachRate: -0.501132 m/s,
      posRepo size: 4

2025-09-20T00:00:25.617Z,1758326425.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:25.624Z,1758326425.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 228.280502 m,
      bearing: 261.508933 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017038 deg/s,
      cmd heading: 251.016528 deg,
      new cmd heading: 250.999081 deg.

2025-09-20T00:00:25.625Z,1758326425.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380760 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:25.681Z,1758326425.681 [DAT](INFO): DAT read: 

2025-09-20T00:00:25.682Z,1758326425.682 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:25.933Z,1758326425.933 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:25.995Z,1758326425.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:26.005Z,1758326426.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 228.073242 m,
      bearing: 261.502372 deg,
      approach rate: -0.539719 m/s,
      LOS rate: -0.017100 deg/s,
      cmd heading: 250.999070 deg,
      new cmd heading: 250.985937 deg.

2025-09-20T00:00:26.009Z,1758326426.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380531 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:26.185Z,1758326426.185 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:26.366Z,1758326426.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:26.368Z,1758326426.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:26.371Z,1758326426.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 227.868469 m,
      bearing: 261.495180 deg,
      approach rate: -0.547129 m/s,
      LOS rate: -0.019235 deg/s,
      cmd heading: 250.985929 deg,
      new cmd heading: 250.971531 deg.

2025-09-20T00:00:26.372Z,1758326426.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380280 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:26.438Z,1758326426.438 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:26.689Z,1758326426.689 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:26.784Z,1758326426.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:26.787Z,1758326426.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 227.656708 m,
      bearing: 261.487743 deg,
      approach rate: -0.529470 m/s,
      LOS rate: -0.018613 deg/s,
      cmd heading: 250.971531 deg,
      new cmd heading: 250.956642 deg.

2025-09-20T00:00:26.812Z,1758326426.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380020 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:26.941Z,1758326426.941 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:27.193Z,1758326427.193 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:27.219Z,1758326427.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:27.226Z,1758326427.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 227.427078 m,
      bearing: 261.477979 deg,
      approach rate: -0.508926 m/s,
      LOS rate: -0.021661 deg/s,
      cmd heading: 250.956641 deg,
      new cmd heading: 250.937094 deg.

2025-09-20T00:00:27.227Z,1758326427.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379679 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:27.445Z,1758326427.445 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:27.575Z,1758326427.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:27.578Z,1758326427.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 227.222366 m,
      bearing: 261.469319 deg,
      approach rate: -0.574333 m/s,
      LOS rate: -0.024317 deg/s,
      cmd heading: 250.937107 deg,
      new cmd heading: 250.919772 deg.

2025-09-20T00:00:27.579Z,1758326427.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379376 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:27.697Z,1758326427.697 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:27.949Z,1758326427.949 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:27.958Z,1758326427.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:27.961Z,1758326427.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 227.017761 m,
      bearing: 261.460670 deg,
      approach rate: -0.534830 m/s,
      LOS rate: -0.022629 deg/s,
      cmd heading: 250.919785 deg,
      new cmd heading: 250.902471 deg.

2025-09-20T00:00:27.962Z,1758326427.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379074 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:28.201Z,1758326428.201 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:28.403Z,1758326428.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:28.405Z,1758326428.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:28.408Z,1758326428.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 226.789597 m,
      bearing: 261.451032 deg,
      approach rate: -0.510194 m/s,
      LOS rate: -0.021574 deg/s,
      cmd heading: 250.902464 deg,
      new cmd heading: 250.883168 deg.

2025-09-20T00:00:28.409Z,1758326428.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378737 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:28.455Z,1758326428.455 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:28.705Z,1758326428.705 [DAT](INFO): DAT read: Rx Time:00:00:29.6273

2025-09-20T00:00:28.705Z,1758326428.705 [DAT](INFO): Rx dataTimestamp_ set to:1758326428.705214
2025-09-20T00:00:28.706Z,1758326428.706 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:28.847Z,1758326428.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.68 m.
2025-09-20T00:00:28.850Z,1758326428.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.682831 m,
      nav range: 226.538345 m,
      bearing: 261.440447 deg,
      approach rate: -0.568408 m/s,
      LOS rate: -0.023973 deg/s,
      cmd heading: 250.883175 deg,
      new cmd heading: 250.861982 deg.

2025-09-20T00:00:28.851Z,1758326428.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378367 target range: 233.682831 and range: 234.30 m.
2025-09-20T00:00:28.957Z,1758326428.957 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:29.244Z,1758326429.244 [DAT](INFO): DAT read: 00:00:29.6273 LVL= 29264, 32753, 32754, 32755, AGC= 68, IDX= 432, 0.01,-1.408, 3.053,-1.604,-1.699, PHS= 0.393,-1.486, 0.052, RAW= 140.2,  12.0, CAL= 139.5,  13.0, ROT=  10.5, -13.0

2025-09-20T00:00:29.245Z,1758326429.245 [DAT](INFO): got valid direction response:
 00:00:29.6273 LVL= 29264, 32753, 32754, 32755, AGC= 68, IDX= 432, 0.01,-1.408, 3.053,-1.604,-1.699, PHS= 0.393,-1.486, 0.052, RAW= 140.2,  12.0, CAL= 139.5,  13.0, ROT=  10.5, -13.0

2025-09-20T00:00:29.246Z,1758326429.246 [DAT](INFO): DAT read: Bearing  45.3,  12.3 (Local)

2025-09-20T00:00:29.246Z,1758326429.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.3,  12.3 (Local)

2025-09-20T00:00:29.256Z,1758326429.256 [DAT](INFO): DAT read: Range 11 to 50 : 233.4 m  (Round-trip  311.3 ms) speed  0.4 m/s

2025-09-20T00:00:29.257Z,1758326429.257 [DAT](INFO): DAT read: user:652>Tx time:00:00:30.7119

2025-09-20T00:00:29.257Z,1758326429.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:00:29.258Z,1758326429.258 [DAT](INFO): direction in FSK: [0.958054,0.177565,0.224951]
2025-09-20T00:00:29.259Z,1758326429.259 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:29.282Z,1758326429.282 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:29.282Z,1758326429.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:29.317Z,1758326429.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 233.399994 m,
      deltaT: 3.781125 s,
      deltaX: -0.900009 m,
      approachRate: -0.238027 m/s,
      rangeRepo size: 4

2025-09-20T00:00:29.319Z,1758326429.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 232.785461 m,
      bearing: 261.800246 deg,
      lat: 36.779418 deg,
      lon: -121.859864 deg,
      deltaT: 3.781125 s,
      deltaX: -0.897369 m,
      approachRate: -0.237329 m/s,
      posRepo size: 4

2025-09-20T00:00:29.324Z,1758326429.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:29.327Z,1758326429.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 226.299530 m,
      bearing: 261.437087 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023973 deg/s,
      cmd heading: 250.861975 deg,
      new cmd heading: 250.839881 deg.

2025-09-20T00:00:29.332Z,1758326429.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377982 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:29.461Z,1758326429.461 [DAT](INFO): DAT read: 

2025-09-20T00:00:29.461Z,1758326429.461 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:29.637Z,1758326429.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:29.640Z,1758326429.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 226.110168 m,
      bearing: 261.428582 deg,
      approach rate: -0.575193 m/s,
      LOS rate: -0.025855 deg/s,
      cmd heading: 250.839872 deg,
      new cmd heading: 250.822848 deg.

2025-09-20T00:00:29.641Z,1758326429.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377685 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:29.713Z,1758326429.713 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:29.965Z,1758326429.965 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:30.047Z,1758326430.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:30.074Z,1758326430.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 225.895081 m,
      bearing: 261.418935 deg,
      approach rate: -0.524731 m/s,
      LOS rate: -0.023556 deg/s,
      cmd heading: 250.822851 deg,
      new cmd heading: 250.803540 deg.

2025-09-20T00:00:30.082Z,1758326430.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377347 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:30.217Z,1758326430.217 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:30.452Z,1758326430.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:30.454Z,1758326430.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:30.469Z,1758326430.469 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:30.477Z,1758326430.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 225.674255 m,
      bearing: 261.409279 deg,
      approach rate: -0.542675 m/s,
      LOS rate: -0.023754 deg/s,
      cmd heading: 250.803535 deg,
      new cmd heading: 250.784204 deg.

2025-09-20T00:00:30.478Z,1758326430.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377010 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:30.722Z,1758326430.722 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:30.844Z,1758326430.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:30.847Z,1758326430.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 225.467316 m,
      bearing: 261.400212 deg,
      approach rate: -0.530828 m/s,
      LOS rate: -0.023280 deg/s,
      cmd heading: 250.784192 deg,
      new cmd heading: 250.766041 deg.

2025-09-20T00:00:30.848Z,1758326430.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376693 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:30.973Z,1758326430.973 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:31.225Z,1758326431.225 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:31.267Z,1758326431.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:31.286Z,1758326431.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 225.251205 m,
      bearing: 261.390738 deg,
      approach rate: -0.511224 m/s,
      LOS rate: -0.022432 deg/s,
      cmd heading: 250.766051 deg,
      new cmd heading: 250.747086 deg.

2025-09-20T00:00:31.287Z,1758326431.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376362 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:31.477Z,1758326431.477 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:31.636Z,1758326431.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:31.638Z,1758326431.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 225.062408 m,
      bearing: 261.382464 deg,
      approach rate: -0.511671 m/s,
      LOS rate: -0.022442 deg/s,
      cmd heading: 250.747091 deg,
      new cmd heading: 250.730529 deg.

2025-09-20T00:00:31.639Z,1758326431.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376073 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:31.730Z,1758326431.730 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:31.981Z,1758326431.981 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:32.059Z,1758326432.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:32.062Z,1758326432.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 224.845688 m,
      bearing: 261.372949 deg,
      approach rate: -0.511492 m/s,
      LOS rate: -0.022480 deg/s,
      cmd heading: 250.730534 deg,
      new cmd heading: 250.711485 deg.

2025-09-20T00:00:32.063Z,1758326432.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375741 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:32.233Z,1758326432.233 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:32.474Z,1758326432.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:32.477Z,1758326432.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:32.479Z,1758326432.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 224.629242 m,
      bearing: 261.364733 deg,
      approach rate: -0.518781 m/s,
      LOS rate: -0.019709 deg/s,
      cmd heading: 250.711492 deg,
      new cmd heading: 250.695046 deg.

2025-09-20T00:00:32.480Z,1758326432.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375454 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:32.485Z,1758326432.485 [DAT](INFO): DAT read: Rx Time:00:00:33.4241

2025-09-20T00:00:32.485Z,1758326432.485 [DAT](INFO): Rx dataTimestamp_ set to:1758326432.485194
2025-09-20T00:00:32.486Z,1758326432.486 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:32.737Z,1758326432.737 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:32.862Z,1758326432.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.79 m.
2025-09-20T00:00:32.866Z,1758326432.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.785461 m,
      nav range: 224.433655 m,
      bearing: 261.357318 deg,
      approach rate: -0.507308 m/s,
      LOS rate: -0.019249 deg/s,
      cmd heading: 250.695045 deg,
      new cmd heading: 250.680202 deg.

2025-09-20T00:00:32.867Z,1758326432.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375195 target range: 232.785461 and range: 233.40 m.
2025-09-20T00:00:32.991Z,1758326432.991 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:33.247Z,1758326433.247 [DAT](INFO): DAT read: 00:00:33.4241 LVL= 27488, 32753, 32754, 32499, AGC= 70, IDX= 165,-0.15, 2.594, 0.599, 2.349, 2.148, PHS= 0.548,-1.504, 0.157, RAW= 139.7,   8.5, CAL= 139.3,   9.4, ROT=  10.7,  -9.4

2025-09-20T00:00:33.248Z,1758326433.248 [DAT](INFO): got valid direction response:
 00:00:33.4241 LVL= 27488, 32753, 32754, 32499, AGC= 70, IDX= 165,-0.15, 2.594, 0.599, 2.349, 2.148, PHS= 0.548,-1.504, 0.157, RAW= 139.7,   8.5, CAL= 139.3,   9.4, ROT=  10.7,  -9.4

2025-09-20T00:00:33.249Z,1758326433.249 [DAT](INFO): DAT read: Bearing  41.3,  12.9 (Local)

2025-09-20T00:00:33.249Z,1758326433.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.3,  12.9 (Local)

2025-09-20T00:00:33.251Z,1758326433.251 [DAT](INFO): DAT read: Range 11 to 50 : 231.0 m  (Round-trip  308.1 ms) speed  0.2 m/s

2025-09-20T00:00:33.252Z,1758326433.252 [DAT](INFO): DAT read: user:653>Tx time:00:00:34.5119

2025-09-20T00:00:33.252Z,1758326433.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:00:33.253Z,1758326433.253 [DAT](INFO): direction in FSK: [0.969418,0.183174,0.163326]
2025-09-20T00:00:33.253Z,1758326433.253 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:33.257Z,1758326433.257 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:33.258Z,1758326433.258 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:33.360Z,1758326433.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.000000 m,
      deltaT: 4.029642 s,
      deltaX: -2.399994 m,
      approachRate: -0.595585 m/s,
      rangeRepo size: 4

2025-09-20T00:00:33.366Z,1758326433.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.391785 m,
      bearing: 261.666925 deg,
      lat: 36.779418 deg,
      lon: -121.859869 deg,
      deltaT: 4.029642 s,
      deltaX: -2.393677 m,
      approachRate: -0.594017 m/s,
      posRepo size: 4

2025-09-20T00:00:33.366Z,1758326433.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:33.373Z,1758326433.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 224.585510 m,
      bearing: 261.363471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019249 deg/s,
      cmd heading: 250.680210 deg,
      new cmd heading: 250.661085 deg.

2025-09-20T00:00:33.374Z,1758326433.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374861 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:33.494Z,1758326433.494 [DAT](INFO): DAT read: 

2025-09-20T00:00:33.494Z,1758326433.494 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:33.700Z,1758326433.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:33.703Z,1758326433.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 224.406708 m,
      bearing: 261.356728 deg,
      approach rate: -0.523966 m/s,
      LOS rate: -0.019775 deg/s,
      cmd heading: 250.661085 deg,
      new cmd heading: 250.647588 deg.

2025-09-20T00:00:33.704Z,1758326433.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374626 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:33.745Z,1758326433.745 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:33.997Z,1758326433.997 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:34.083Z,1758326434.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:34.085Z,1758326434.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 224.215347 m,
      bearing: 261.349495 deg,
      approach rate: -0.500413 m/s,
      LOS rate: -0.018930 deg/s,
      cmd heading: 250.647589 deg,
      new cmd heading: 250.633111 deg.

2025-09-20T00:00:34.086Z,1758326434.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374373 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:34.249Z,1758326434.249 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:34.501Z,1758326434.501 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:34.531Z,1758326434.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:34.534Z,1758326434.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:34.540Z,1758326434.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 223.983994 m,
      bearing: 261.340141 deg,
      approach rate: -0.512267 m/s,
      LOS rate: -0.020733 deg/s,
      cmd heading: 250.633109 deg,
      new cmd heading: 250.614381 deg.

2025-09-20T00:00:34.543Z,1758326434.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374046 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:34.754Z,1758326434.754 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:34.897Z,1758326434.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:34.900Z,1758326434.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 223.789948 m,
      bearing: 261.332286 deg,
      approach rate: -0.534817 m/s,
      LOS rate: -0.021668 deg/s,
      cmd heading: 250.614394 deg,
      new cmd heading: 250.598671 deg.

2025-09-20T00:00:34.901Z,1758326434.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373772 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:35.005Z,1758326435.005 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:35.257Z,1758326435.257 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:35.319Z,1758326435.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:35.322Z,1758326435.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 223.570587 m,
      bearing: 261.324953 deg,
      approach rate: -0.520123 m/s,
      LOS rate: -0.017405 deg/s,
      cmd heading: 250.598657 deg,
      new cmd heading: 250.583976 deg.

2025-09-20T00:00:35.323Z,1758326435.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373516 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:35.509Z,1758326435.509 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:35.701Z,1758326435.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:35.704Z,1758326435.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 223.371674 m,
      bearing: 261.318272 deg,
      approach rate: -0.520365 m/s,
      LOS rate: -0.017493 deg/s,
      cmd heading: 250.583986 deg,
      new cmd heading: 250.570612 deg.

2025-09-20T00:00:35.705Z,1758326435.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373282 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:35.761Z,1758326435.761 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:36.014Z,1758326436.014 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:36.121Z,1758326436.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:36.124Z,1758326436.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 223.153091 m,
      bearing: 261.310917 deg,
      approach rate: -0.520353 m/s,
      LOS rate: -0.017526 deg/s,
      cmd heading: 250.570626 deg,
      new cmd heading: 250.555902 deg.

2025-09-20T00:00:36.125Z,1758326436.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373025 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:36.267Z,1758326436.267 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:36.527Z,1758326436.527 [DAT](INFO): DAT read: 00:00:37.2215 LVL= 27072, 32753, 30450, 32755, AGC= 68, IDX= 421, 0.12, 1.990, 0.590, 1.905, 0.912, PHS= 1.181,-0.277, 0.949, RAW= 141.5, -25.8, CAL= 142.3, -27.4, ROT=   7.7,  27.4

2025-09-20T00:00:36.529Z,1758326436.529 [DAT](INFO): got valid direction response:
 00:00:37.2215 LVL= 27072, 32753, 30450, 32755, AGC= 68, IDX= 421, 0.12, 1.990, 0.590, 1.905, 0.912, PHS= 1.181,-0.277, 0.949, RAW= 141.5, -25.8, CAL= 142.3, -27.4, ROT=   7.7,  27.4

2025-09-20T00:00:36.530Z,1758326436.530 [DAT](INFO): DAT read: Rx Time:00:00:37.2215

2025-09-20T00:00:36.531Z,1758326436.531 [DAT](INFO): Rx dataTimestamp_ set to:1758326436.530430
2025-09-20T00:00:36.531Z,1758326436.531 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-20T00:00:36.533Z,1758326436.533 [DAT](INFO): Received low SNR in chirp
2025-09-20T00:00:36.544Z,1758326436.544 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-20T00:00:36.545Z,1758326436.545 [DAT](INFO): direction in FSK: [0.879810,0.118955,-0.460200]
2025-09-20T00:00:36.548Z,1758326436.548 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:36.658Z,1758326436.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:36.664Z,1758326436.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:36.667Z,1758326436.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 222.886475 m,
      bearing: 261.303841 deg,
      approach rate: -0.494706 m/s,
      LOS rate: -0.013147 deg/s,
      cmd heading: 250.555900 deg,
      new cmd heading: 250.541730 deg.

2025-09-20T00:00:36.672Z,1758326436.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372778 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:36.770Z,1758326436.770 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:37.003Z,1758326437.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:37.007Z,1758326437.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 222.709518 m,
      bearing: 261.299135 deg,
      approach rate: -0.515185 m/s,
      LOS rate: -0.013711 deg/s,
      cmd heading: 250.541721 deg,
      new cmd heading: 250.532302 deg.

2025-09-20T00:00:37.010Z,1758326437.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372613 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:37.022Z,1758326437.022 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:37.273Z,1758326437.273 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:37.443Z,1758326437.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:37.446Z,1758326437.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 222.483612 m,
      bearing: 261.290907 deg,
      approach rate: -0.513793 m/s,
      LOS rate: -0.018733 deg/s,
      cmd heading: 250.532295 deg,
      new cmd heading: 250.515822 deg.

2025-09-20T00:00:37.447Z,1758326437.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372326 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:37.526Z,1758326437.526 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:37.777Z,1758326437.777 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:37.819Z,1758326437.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:37.822Z,1758326437.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 222.290237 m,
      bearing: 261.283873 deg,
      approach rate: -0.514632 m/s,
      LOS rate: -0.018736 deg/s,
      cmd heading: 250.515821 deg,
      new cmd heading: 250.501741 deg.

2025-09-20T00:00:37.823Z,1758326437.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372080 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:38.029Z,1758326438.029 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:38.281Z,1758326438.281 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:38.297Z,1758326438.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:38.300Z,1758326438.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 222.044952 m,
      bearing: 261.274151 deg,
      approach rate: -0.512995 m/s,
      LOS rate: -0.020354 deg/s,
      cmd heading: 250.501750 deg,
      new cmd heading: 250.482286 deg.

2025-09-20T00:00:38.302Z,1758326438.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371741 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:38.533Z,1758326438.533 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:38.629Z,1758326438.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:38.631Z,1758326438.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 221.874786 m,
      bearing: 261.267432 deg,
      approach rate: -0.513360 m/s,
      LOS rate: -0.020286 deg/s,
      cmd heading: 250.482298 deg,
      new cmd heading: 250.468849 deg.

2025-09-20T00:00:38.632Z,1758326438.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371506 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:38.785Z,1758326438.785 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:39.037Z,1758326439.037 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:39.046Z,1758326439.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:39.048Z,1758326439.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:39.051Z,1758326439.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 221.659775 m,
      bearing: 261.258961 deg,
      approach rate: -0.512836 m/s,
      LOS rate: -0.020224 deg/s,
      cmd heading: 250.468856 deg,
      new cmd heading: 250.451898 deg.

2025-09-20T00:00:39.052Z,1758326439.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371210 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:39.289Z,1758326439.289 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:39.443Z,1758326439.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:39.446Z,1758326439.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 221.457306 m,
      bearing: 261.250128 deg,
      approach rate: -0.512225 m/s,
      LOS rate: -0.022368 deg/s,
      cmd heading: 250.451890 deg,
      new cmd heading: 250.434207 deg.

2025-09-20T00:00:39.447Z,1758326439.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370902 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:39.541Z,1758326439.541 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:39.793Z,1758326439.793 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:39.827Z,1758326439.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:39.830Z,1758326439.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 221.260483 m,
      bearing: 261.241553 deg,
      approach rate: -0.512167 m/s,
      LOS rate: -0.022333 deg/s,
      cmd heading: 250.434213 deg,
      new cmd heading: 250.417049 deg.

2025-09-20T00:00:39.831Z,1758326439.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370602 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:40.045Z,1758326440.045 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:40.297Z,1758326440.297 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:40.366Z,1758326440.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:40.369Z,1758326440.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 220.978973 m,
      bearing: 261.230454 deg,
      approach rate: -0.522457 m/s,
      LOS rate: -0.020625 deg/s,
      cmd heading: 250.417056 deg,
      new cmd heading: 250.394830 deg.

2025-09-20T00:00:40.370Z,1758326440.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370214 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:40.549Z,1758326440.549 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:40.805Z,1758326440.805 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:40.820Z,1758326440.820 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-09-20T00:00:40.843Z,1758326440.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:40.846Z,1758326440.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 220.729126 m,
      bearing: 261.220591 deg,
      approach rate: -0.523631 m/s,
      LOS rate: -0.020694 deg/s,
      cmd heading: 250.394817 deg,
      new cmd heading: 250.375069 deg.

2025-09-20T00:00:40.847Z,1758326440.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369869 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:41.054Z,1758326441.054 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:41.305Z,1758326441.305 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:41.377Z,1758326441.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:41.379Z,1758326441.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:41.382Z,1758326441.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 220.452835 m,
      bearing: 261.210376 deg,
      approach rate: -0.515391 m/s,
      LOS rate: -0.019079 deg/s,
      cmd heading: 250.375064 deg,
      new cmd heading: 250.354608 deg.

2025-09-20T00:00:41.383Z,1758326441.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369512 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:41.557Z,1758326441.557 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:41.784Z,1758326441.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:41.787Z,1758326441.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 220.257233 m,
      bearing: 261.203132 deg,
      approach rate: -0.482951 m/s,
      LOS rate: -0.017902 deg/s,
      cmd heading: 250.354601 deg,
      new cmd heading: 250.340099 deg.

2025-09-20T00:00:41.792Z,1758326441.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369259 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:41.809Z,1758326441.809 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:42.061Z,1758326442.061 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:42.139Z,1758326442.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:42.141Z,1758326442.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 220.060959 m,
      bearing: 261.195857 deg,
      approach rate: -0.554272 m/s,
      LOS rate: -0.020560 deg/s,
      cmd heading: 250.340093 deg,
      new cmd heading: 250.325532 deg.

2025-09-20T00:00:42.142Z,1758326442.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369005 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:42.316Z,1758326442.316 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:42.567Z,1758326442.567 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:42.595Z,1758326442.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:42.598Z,1758326442.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 219.833603 m,
      bearing: 261.186585 deg,
      approach rate: -0.498153 m/s,
      LOS rate: -0.020338 deg/s,
      cmd heading: 250.325531 deg,
      new cmd heading: 250.306967 deg.

2025-09-20T00:00:42.599Z,1758326442.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368681 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:42.817Z,1758326442.817 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:43.034Z,1758326443.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:43.037Z,1758326443.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 219.616684 m,
      bearing: 261.177721 deg,
      approach rate: -0.493717 m/s,
      LOS rate: -0.020196 deg/s,
      cmd heading: 250.306981 deg,
      new cmd heading: 250.289235 deg.

2025-09-20T00:00:43.038Z,1758326443.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368371 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:43.069Z,1758326443.069 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:43.321Z,1758326443.321 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:43.418Z,1758326443.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:43.421Z,1758326443.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:43.423Z,1758326443.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 219.420090 m,
      bearing: 261.171378 deg,
      approach rate: -0.509050 m/s,
      LOS rate: -0.016438 deg/s,
      cmd heading: 250.289222 deg,
      new cmd heading: 250.276526 deg.

2025-09-20T00:00:43.424Z,1758326443.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368149 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:43.573Z,1758326443.573 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:43.807Z,1758326443.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:43.810Z,1758326443.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 219.224777 m,
      bearing: 261.165066 deg,
      approach rate: -0.505424 m/s,
      LOS rate: -0.016349 deg/s,
      cmd heading: 250.276518 deg,
      new cmd heading: 250.263883 deg.

2025-09-20T00:00:43.811Z,1758326443.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367929 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:43.825Z,1758326443.825 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:44.018Z,1758326444.018 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:00:44.077Z,1758326444.077 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:44.192Z,1758326444.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:44.195Z,1758326444.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 219.030563 m,
      bearing: 261.158787 deg,
      approach rate: -0.504491 m/s,
      LOS rate: -0.016325 deg/s,
      cmd heading: 250.263896 deg,
      new cmd heading: 250.251327 deg.

2025-09-20T00:00:44.220Z,1758326444.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367710 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:44.330Z,1758326444.330 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:44.581Z,1758326444.581 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:44.655Z,1758326444.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:44.661Z,1758326444.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 218.811920 m,
      bearing: 261.151684 deg,
      approach rate: -0.472602 m/s,
      LOS rate: -0.015370 deg/s,
      cmd heading: 250.251328 deg,
      new cmd heading: 250.237107 deg.

2025-09-20T00:00:44.662Z,1758326444.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367461 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:44.833Z,1758326444.833 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:45.021Z,1758326445.021 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:00:45.037Z,1758326445.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:45.040Z,1758326445.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 218.612839 m,
      bearing: 261.145217 deg,
      approach rate: -0.520185 m/s,
      LOS rate: -0.016912 deg/s,
      cmd heading: 250.237094 deg,
      new cmd heading: 250.224150 deg.

2025-09-20T00:00:45.041Z,1758326445.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367235 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:45.085Z,1758326445.085 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:45.337Z,1758326445.337 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:00:45.456Z,1758326445.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:45.458Z,1758326445.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:45.461Z,1758326445.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 218.399094 m,
      bearing: 261.139941 deg,
      approach rate: -0.508114 m/s,
      LOS rate: -0.012555 deg/s,
      cmd heading: 250.224144 deg,
      new cmd heading: 250.213581 deg.

2025-09-20T00:00:45.462Z,1758326445.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367051 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:45.589Z,1758326445.589 [DAT](INFO): DAT read: Response Not Received

2025-09-20T00:00:45.589Z,1758326445.589 [DAT](INFO): response not received
2025-09-20T00:00:45.590Z,1758326445.590 [DAT](INFO): DAT read: Tx time:00:00:46.9618

2025-09-20T00:00:45.590Z,1758326445.590 [DAT](INFO): Ping request sent.
2025-09-20T00:00:45.590Z,1758326445.590 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:00:45.590Z,1758326445.590 [DAT](INFO): publishing transmit ping time
2025-09-20T00:00:45.837Z,1758326445.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:45.841Z,1758326445.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 218.202408 m,
      bearing: 261.135092 deg,
      approach rate: -0.518834 m/s,
      LOS rate: -0.012802 deg/s,
      cmd heading: 250.213571 deg,
      new cmd heading: 250.203865 deg.

2025-09-20T00:00:45.842Z,1758326445.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366881 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:46.254Z,1758326446.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:46.257Z,1758326446.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 217.996689 m,
      bearing: 261.130034 deg,
      approach rate: -0.493607 m/s,
      LOS rate: -0.012148 deg/s,
      cmd heading: 250.203872 deg,
      new cmd heading: 250.193747 deg.

2025-09-20T00:00:46.258Z,1758326446.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366704 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:46.669Z,1758326446.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:46.672Z,1758326446.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 217.781235 m,
      bearing: 261.124689 deg,
      approach rate: -0.518346 m/s,
      LOS rate: -0.012873 deg/s,
      cmd heading: 250.193736 deg,
      new cmd heading: 250.183035 deg.

2025-09-20T00:00:46.673Z,1758326446.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366518 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:47.045Z,1758326447.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:47.048Z,1758326447.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 217.575317 m,
      bearing: 261.119591 deg,
      approach rate: -0.547773 m/s,
      LOS rate: -0.013573 deg/s,
      cmd heading: 250.183026 deg,
      new cmd heading: 250.172822 deg.

2025-09-20T00:00:47.049Z,1758326447.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366339 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:47.467Z,1758326447.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:47.470Z,1758326447.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:47.473Z,1758326447.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 217.349167 m,
      bearing: 261.114707 deg,
      approach rate: -0.532305 m/s,
      LOS rate: -0.011509 deg/s,
      cmd heading: 250.172808 deg,
      new cmd heading: 250.163029 deg.

2025-09-20T00:00:47.474Z,1758326447.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366168 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:47.605Z,1758326447.605 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:47.605Z,1758326447.605 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:47.605Z,1758326447.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:47.857Z,1758326447.857 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:47.857Z,1758326447.857 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:47.857Z,1758326447.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:47.868Z,1758326447.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:47.870Z,1758326447.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 217.136429 m,
      bearing: 261.110103 deg,
      approach rate: -0.535321 m/s,
      LOS rate: -0.011598 deg/s,
      cmd heading: 250.163028 deg,
      new cmd heading: 250.153810 deg.

2025-09-20T00:00:47.871Z,1758326447.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366008 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:48.110Z,1758326448.110 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:48.110Z,1758326448.110 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:48.110Z,1758326448.110 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:48.257Z,1758326448.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:48.260Z,1758326448.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 216.928589 m,
      bearing: 261.105673 deg,
      approach rate: -0.533702 m/s,
      LOS rate: -0.011386 deg/s,
      cmd heading: 250.153821 deg,
      new cmd heading: 250.144953 deg.

2025-09-20T00:00:48.261Z,1758326448.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365853 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:48.363Z,1758326448.363 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:48.364Z,1758326448.364 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:48.364Z,1758326448.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:48.613Z,1758326448.613 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:48.613Z,1758326448.613 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:48.613Z,1758326448.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:48.689Z,1758326448.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:48.692Z,1758326448.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 216.702545 m,
      bearing: 261.099277 deg,
      approach rate: -0.523196 m/s,
      LOS rate: -0.014818 deg/s,
      cmd heading: 250.144941 deg,
      new cmd heading: 250.132137 deg.

2025-09-20T00:00:48.693Z,1758326448.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365629 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:48.865Z,1758326448.865 [DAT](INFO): DAT read: Rx Time:00:00:49.6638

2025-09-20T00:00:48.865Z,1758326448.865 [DAT](INFO): Rx dataTimestamp_ set to:1758326448.865201
2025-09-20T00:00:48.866Z,1758326448.866 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:48.866Z,1758326448.866 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:48.866Z,1758326448.866 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:49.066Z,1758326449.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.39 m.
2025-09-20T00:00:49.069Z,1758326449.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.391785 m,
      nav range: 216.505035 m,
      bearing: 261.093692 deg,
      approach rate: -0.523483 m/s,
      LOS rate: -0.014817 deg/s,
      cmd heading: 250.132128 deg,
      new cmd heading: 250.120947 deg.

2025-09-20T00:00:49.070Z,1758326449.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365434 target range: 230.391785 and range: 231.00 m.
2025-09-20T00:00:49.117Z,1758326449.117 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:49.117Z,1758326449.117 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:49.117Z,1758326449.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:00:49.404Z,1758326449.404 [DAT](INFO): DAT read: 00:00:49.6638 LVL= 28704, 32753, 32754, 32755, AGC= 69, IDX= 359, 0.46,-0.287,-2.306,-0.574,-0.727, PHS= 0.542,-1.535, 0.108, RAW= 138.6,   9.4, CAL= 138.2,  10.3, ROT=  11.8, -10.3

2025-09-20T00:00:49.406Z,1758326449.406 [DAT](INFO): got valid direction response:
 00:00:49.6638 LVL= 28704, 32753, 32754, 32755, AGC= 69, IDX= 359, 0.46,-0.287,-2.306,-0.574,-0.727, PHS= 0.542,-1.535, 0.108, RAW= 138.6,   9.4, CAL= 138.2,  10.3, ROT=  11.8, -10.3

2025-09-20T00:00:49.406Z,1758326449.406 [DAT](INFO): DAT read: Bearing  41.1,  13.7 (Local)

2025-09-20T00:00:49.407Z,1758326449.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.1,  13.7 (Local)

2025-09-20T00:00:49.408Z,1758326449.408 [DAT](INFO): DAT read: Range 11 to 50 : 223.4 m  (Round-trip  297.9 ms) speed -0.3 m/s

2025-09-20T00:00:49.409Z,1758326449.409 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-20T00:00:49.410Z,1758326449.410 [DAT](INFO): direction in FSK: [0.963093,0.201201,0.178802]
2025-09-20T00:00:49.410Z,1758326449.410 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:49.437Z,1758326449.437 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:49.437Z,1758326449.437 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:49.438Z,1758326449.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:49.564Z,1758326449.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.399994 m,
      deltaT: 16.129536 s,
      deltaX: -7.600006 m,
      approachRate: -0.471186 m/s,
      rangeRepo size: 4

2025-09-20T00:00:49.567Z,1758326449.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 222.811539 m,
      bearing: 262.008118 deg,
      lat: 36.779427 deg,
      lon: -121.859880 deg,
      deltaT: 16.129536 s,
      deltaX: -7.580246 m,
      approachRate: -0.469961 m/s,
      posRepo size: 4

2025-09-20T00:00:49.567Z,1758326449.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:49.574Z,1758326449.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 217.060547 m,
      bearing: 261.399205 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014817 deg/s,
      cmd heading: 250.120954 deg,
      new cmd heading: 250.106350 deg.

2025-09-20T00:00:49.575Z,1758326449.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365179 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:49.622Z,1758326449.622 [DAT](INFO): DAT read: 

2025-09-20T00:00:49.623Z,1758326449.623 [DAT](INFO): DAT read: Tx time:00:00:51.0118

2025-09-20T00:00:49.623Z,1758326449.623 [DAT](INFO): Ping request sent.
2025-09-20T00:00:49.623Z,1758326449.623 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:00:49.624Z,1758326449.624 [DAT](INFO): publishing transmit ping time
2025-09-20T00:00:49.625Z,1758326449.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001183
2025-09-20T00:00:49.873Z,1758326449.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249475
2025-09-20T00:00:49.914Z,1758326449.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:49.920Z,1758326449.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:49.923Z,1758326449.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 216.866394 m,
      bearing: 261.394090 deg,
      approach rate: -0.544309 m/s,
      LOS rate: -0.014353 deg/s,
      cmd heading: 250.106337 deg,
      new cmd heading: 250.096098 deg.

2025-09-20T00:00:49.924Z,1758326449.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365000 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:50.125Z,1758326450.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501566
2025-09-20T00:00:50.312Z,1758326450.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:50.314Z,1758326450.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 216.647018 m,
      bearing: 261.388352 deg,
      approach rate: -0.554406 m/s,
      LOS rate: -0.014516 deg/s,
      cmd heading: 250.096092 deg,
      new cmd heading: 250.084604 deg.

2025-09-20T00:00:50.315Z,1758326450.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364800 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:50.383Z,1758326450.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759158
2025-09-20T00:00:50.629Z,1758326450.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005340
2025-09-20T00:00:50.747Z,1758326450.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:50.751Z,1758326450.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 216.421173 m,
      bearing: 261.381550 deg,
      approach rate: -0.518760 m/s,
      LOS rate: -0.015639 deg/s,
      cmd heading: 250.084617 deg,
      new cmd heading: 250.071000 deg.

2025-09-20T00:00:50.753Z,1758326450.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364563 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:50.881Z,1758326450.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257656
2025-09-20T00:00:51.125Z,1758326451.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:51.128Z,1758326451.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 216.220337 m,
      bearing: 261.375542 deg,
      approach rate: -0.530600 m/s,
      LOS rate: -0.015888 deg/s,
      cmd heading: 250.071011 deg,
      new cmd heading: 250.058984 deg.

2025-09-20T00:00:51.129Z,1758326451.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364353 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:51.133Z,1758326451.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509622
2025-09-20T00:00:51.388Z,1758326451.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764053
2025-09-20T00:00:51.566Z,1758326451.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:51.569Z,1758326451.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 215.985550 m,
      bearing: 261.368690 deg,
      approach rate: -0.532392 m/s,
      LOS rate: -0.015554 deg/s,
      cmd heading: 250.058990 deg,
      new cmd heading: 250.045271 deg.

2025-09-20T00:00:51.570Z,1758326451.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364113 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:51.638Z,1758326451.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014315
2025-09-20T00:00:51.889Z,1758326451.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265456
2025-09-20T00:00:51.933Z,1758326451.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:51.936Z,1758326451.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:51.938Z,1758326451.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 215.789169 m,
      bearing: 261.363019 deg,
      approach rate: -0.532040 m/s,
      LOS rate: -0.015378 deg/s,
      cmd heading: 250.045275 deg,
      new cmd heading: 250.033923 deg.

2025-09-20T00:00:51.939Z,1758326451.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363915 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:52.143Z,1758326452.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519407
2025-09-20T00:00:52.337Z,1758326452.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:52.339Z,1758326452.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 215.575516 m,
      bearing: 261.356873 deg,
      approach rate: -0.532712 m/s,
      LOS rate: -0.015340 deg/s,
      cmd heading: 250.033910 deg,
      new cmd heading: 250.021605 deg.

2025-09-20T00:00:52.340Z,1758326452.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363700 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:52.396Z,1758326452.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771990
2025-09-20T00:00:52.645Z,1758326452.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021463
2025-09-20T00:00:52.776Z,1758326452.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:52.778Z,1758326452.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 215.351730 m,
      bearing: 261.350903 deg,
      approach rate: -0.509881 m/s,
      LOS rate: -0.013617 deg/s,
      cmd heading: 250.021615 deg,
      new cmd heading: 250.009663 deg.

2025-09-20T00:00:52.779Z,1758326452.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363492 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:52.897Z,1758326452.897 [DAT](INFO): DAT read: Rx Time:00:00:53.7116

2025-09-20T00:00:52.897Z,1758326452.897 [DAT](INFO): Rx dataTimestamp_ set to:1758326452.897146
2025-09-20T00:00:52.898Z,1758326452.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274533
2025-09-20T00:00:53.144Z,1758326453.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.81 m.
2025-09-20T00:00:53.146Z,1758326453.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.811539 m,
      nav range: 215.164108 m,
      bearing: 261.345905 deg,
      approach rate: -0.509730 m/s,
      LOS rate: -0.013590 deg/s,
      cmd heading: 250.009676 deg,
      new cmd heading: 249.999671 deg.

2025-09-20T00:00:53.147Z,1758326453.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363317 target range: 222.811539 and range: 223.40 m.
2025-09-20T00:00:53.149Z,1758326453.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525820
2025-09-20T00:00:53.446Z,1758326453.446 [DAT](INFO): DAT read: 00:00:53.7116 LVL= 20160, 25249, 24018, 26227, AGC= 67, IDX= 136,-0.06, 2.262, 0.359, 1.981, 1.872, PHS= 0.492,-1.468, 0.065, RAW= 138.1,  10.2, CAL= 137.6,  11.2, ROT=  12.4, -11.2

2025-09-20T00:00:53.453Z,1758326453.453 [DAT](INFO): got valid direction response:
 00:00:53.7116 LVL= 20160, 25249, 24018, 26227, AGC= 67, IDX= 136,-0.06, 2.262, 0.359, 1.981, 1.872, PHS= 0.492,-1.468, 0.065, RAW= 138.1,  10.2, CAL= 137.6,  11.2, ROT=  12.4, -11.2

2025-09-20T00:00:53.454Z,1758326453.454 [DAT](INFO): DAT read: Bearing  41.7,  13.7 (Local)

2025-09-20T00:00:53.454Z,1758326453.454 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.7,  13.7 (Local)

2025-09-20T00:00:53.455Z,1758326453.455 [DAT](INFO): DAT read: Range 11 to 50 : 221.7 m  (Round-trip  295.7 ms) speed  0.0 m/s

2025-09-20T00:00:53.461Z,1758326453.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:00:53.462Z,1758326453.462 [DAT](INFO): direction in FSK: [0.958072,0.210646,0.194234]
2025-09-20T00:00:53.462Z,1758326453.462 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:53.502Z,1758326453.502 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:53.503Z,1758326453.503 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:53.503Z,1758326453.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:53.631Z,1758326453.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.699997 m,
      deltaT: 4.032413 s,
      deltaX: -1.699997 m,
      approachRate: -0.421583 m/s,
      rangeRepo size: 4

2025-09-20T00:00:53.633Z,1758326453.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.116592 m,
      bearing: 262.243224 deg,
      lat: 36.779433 deg,
      lon: -121.859881 deg,
      deltaT: 4.032413 s,
      deltaX: -1.694946 m,
      approachRate: -0.420331 m/s,
      posRepo size: 4

2025-09-20T00:00:53.634Z,1758326453.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:53.640Z,1758326453.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 214.946732 m,
      bearing: 261.515713 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013590 deg/s,
      cmd heading: 249.999677 deg,
      new cmd heading: 249.986457 deg.

2025-09-20T00:00:53.641Z,1758326453.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363087 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:53.653Z,1758326453.653 [DAT](INFO): DAT read: user:655>

2025-09-20T00:00:53.654Z,1758326453.654 [DAT](INFO): DAT read: Tx time:00:00:55.0618

2025-09-20T00:00:53.654Z,1758326453.654 [DAT](INFO): Ping request sent.
2025-09-20T00:00:53.654Z,1758326453.654 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:00:53.654Z,1758326453.654 [DAT](INFO): publishing transmit ping time
2025-09-20T00:00:53.655Z,1758326453.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-09-20T00:00:53.906Z,1758326453.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251800
2025-09-20T00:00:54.037Z,1758326454.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:54.039Z,1758326454.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:54.042Z,1758326454.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 214.734360 m,
      bearing: 261.509842 deg,
      approach rate: -0.519200 m/s,
      LOS rate: -0.014367 deg/s,
      cmd heading: 249.986454 deg,
      new cmd heading: 249.974700 deg.

2025-09-20T00:00:54.043Z,1758326454.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362882 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:54.157Z,1758326454.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502687
2025-09-20T00:00:54.388Z,1758326454.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:54.391Z,1758326454.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 214.561554 m,
      bearing: 261.505065 deg,
      approach rate: -0.495094 m/s,
      LOS rate: -0.013697 deg/s,
      cmd heading: 249.974706 deg,
      new cmd heading: 249.965145 deg.

2025-09-20T00:00:54.409Z,1758326454.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754593
2025-09-20T00:00:54.410Z,1758326454.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362715 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:54.662Z,1758326454.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007268
2025-09-20T00:00:54.913Z,1758326454.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258721
2025-09-20T00:00:55.001Z,1758326455.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:55.009Z,1758326455.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 214.275589 m,
      bearing: 261.496718 deg,
      approach rate: -0.470579 m/s,
      LOS rate: -0.013754 deg/s,
      cmd heading: 249.965143 deg,
      new cmd heading: 249.948427 deg.

2025-09-20T00:00:55.010Z,1758326455.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362423 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:55.165Z,1758326455.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511204
2025-09-20T00:00:55.420Z,1758326455.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764950
2025-09-20T00:00:55.501Z,1758326455.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:55.509Z,1758326455.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 214.064758 m,
      bearing: 261.490533 deg,
      approach rate: -0.417221 m/s,
      LOS rate: -0.012252 deg/s,
      cmd heading: 249.948423 deg,
      new cmd heading: 249.936040 deg.

2025-09-20T00:00:55.510Z,1758326455.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362207 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:55.669Z,1758326455.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014660
2025-09-20T00:00:55.921Z,1758326455.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266673
2025-09-20T00:00:56.025Z,1758326456.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:56.028Z,1758326456.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 213.763290 m,
      bearing: 261.483744 deg,
      approach rate: -0.575114 m/s,
      LOS rate: -0.012970 deg/s,
      cmd heading: 249.936047 deg,
      new cmd heading: 249.922450 deg.

2025-09-20T00:00:56.029Z,1758326456.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361969 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:56.173Z,1758326456.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518627
2025-09-20T00:00:56.386Z,1758326456.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:56.392Z,1758326456.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:56.395Z,1758326456.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 213.586121 m,
      bearing: 261.479685 deg,
      approach rate: -0.482420 m/s,
      LOS rate: -0.011060 deg/s,
      cmd heading: 249.922441 deg,
      new cmd heading: 249.914317 deg.

2025-09-20T00:00:56.396Z,1758326456.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361828 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:56.426Z,1758326456.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771210
2025-09-20T00:00:56.677Z,1758326456.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022615
2025-09-20T00:00:56.826Z,1758326456.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:56.833Z,1758326456.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 213.376770 m,
      bearing: 261.473321 deg,
      approach rate: -0.483190 m/s,
      LOS rate: -0.014704 deg/s,
      cmd heading: 249.914327 deg,
      new cmd heading: 249.901585 deg.

2025-09-20T00:00:56.834Z,1758326456.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361606 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:56.930Z,1758326456.930 [DAT](INFO): DAT read: Rx Time:00:00:57.7588

2025-09-20T00:00:56.930Z,1758326456.930 [DAT](INFO): Rx dataTimestamp_ set to:1758326456.930217
2025-09-20T00:00:56.931Z,1758326456.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276819
2025-09-20T00:00:57.181Z,1758326457.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526762
2025-09-20T00:00:57.191Z,1758326457.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.12 m.
2025-09-20T00:00:57.194Z,1758326457.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.116592 m,
      nav range: 213.194748 m,
      bearing: 261.467761 deg,
      approach rate: -0.498152 m/s,
      LOS rate: -0.015230 deg/s,
      cmd heading: 249.901595 deg,
      new cmd heading: 249.890465 deg.

2025-09-20T00:00:57.195Z,1758326457.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361412 target range: 221.116592 and range: 221.70 m.
2025-09-20T00:00:57.447Z,1758326457.447 [DAT](INFO): DAT read: 00:00:57.7588 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.21, 1.926, 0.484, 1.853, 0.756, PHS= 1.272,-0.227, 1.052, RAW= 142.2, -27.9, CAL= 143.2, -29.0, ROT=   6.8,  29.0

2025-09-20T00:00:57.491Z,1758326457.491 [DAT](INFO): got valid direction response:
 00:00:57.7588 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.21, 1.926, 0.484, 1.853, 0.756, PHS= 1.272,-0.227, 1.052, RAW= 142.2, -27.9, CAL= 143.2, -29.0, ROT=   6.8,  29.0

2025-09-20T00:00:57.499Z,1758326457.499 [DAT](INFO): DAT read: Bearing   0.5,   7.9 (Local)

2025-09-20T00:00:57.503Z,1758326457.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,   7.9 (Local)

2025-09-20T00:00:57.512Z,1758326457.512 [DAT](INFO): DAT read: Range 11 to 50 : 219.6 m  (Round-trip  292.9 ms) speed  0.4 m/s

2025-09-20T00:00:57.513Z,1758326457.513 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:00:57.513Z,1758326457.513 [DAT](INFO): direction in FSK: [0.868467,0.103558,-0.484810]
2025-09-20T00:00:57.514Z,1758326457.514 [DAT](INFO): publishing direction and range info
2025-09-20T00:00:57.522Z,1758326457.522 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:00:57.522Z,1758326457.522 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:00:57.522Z,1758326457.522 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:00:57.685Z,1758326457.685 [DAT](INFO): DAT read: user:656>

2025-09-20T00:00:57.686Z,1758326457.686 [DAT](INFO): DAT read: Tx time:00:00:59.1118

2025-09-20T00:00:57.686Z,1758326457.686 [DAT](INFO): Ping request sent.
2025-09-20T00:00:57.686Z,1758326457.686 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:00:57.686Z,1758326457.686 [DAT](INFO): publishing transmit ping time
2025-09-20T00:00:57.687Z,1758326457.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-09-20T00:00:57.775Z,1758326457.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 219.600006 m,
      deltaT: 4.032230 s,
      deltaX: -2.099991 m,
      approachRate: -0.520801 m/s,
      rangeRepo size: 4

2025-09-20T00:00:57.778Z,1758326457.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 219.022018 m,
      bearing: 255.665944 deg,
      lat: 36.779433 deg,
      lon: -121.859881 deg,
      deltaT: 4.032230 s,
      deltaX: -2.094574 m,
      approachRate: -0.519458 m/s,
      posRepo size: 4

2025-09-20T00:00:57.779Z,1758326457.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:00:57.786Z,1758326457.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 212.910599 m,
      bearing: 261.459182 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015230 deg/s,
      cmd heading: 249.890476 deg,
      new cmd heading: 249.872720 deg.

2025-09-20T00:00:57.787Z,1758326457.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361102 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:00:57.937Z,1758326457.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250843
2025-09-20T00:00:58.145Z,1758326458.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:00:58.152Z,1758326458.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 212.734131 m,
      bearing: 261.453801 deg,
      approach rate: -0.475132 m/s,
      LOS rate: -0.014498 deg/s,
      cmd heading: 249.872717 deg,
      new cmd heading: 249.861948 deg.

2025-09-20T00:00:58.153Z,1758326458.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360914 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:00:58.189Z,1758326458.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502793
2025-09-20T00:00:58.441Z,1758326458.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754904
2025-09-20T00:00:58.575Z,1758326458.575 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000327034.,   0.0,1497.4,  0 0.00,  79.33,  74.91,  77.97,  76.61
2025-09-20T00:00:58.617Z,1758326458.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:00:58.619Z,1758326458.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:00:58.626Z,1758326458.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 212.503922 m,
      bearing: 261.446723 deg,
      approach rate: -0.485787 m/s,
      LOS rate: -0.014953 deg/s,
      cmd heading: 249.861953 deg,
      new cmd heading: 249.847781 deg.

2025-09-20T00:00:58.627Z,1758326458.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360666 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:00:58.694Z,1758326458.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007514
2025-09-20T00:00:58.945Z,1758326458.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258512
2025-09-20T00:00:59.025Z,1758326459.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:00:59.027Z,1758326459.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 212.298920 m,
      bearing: 261.440379 deg,
      approach rate: -0.517025 m/s,
      LOS rate: -0.016016 deg/s,
      cmd heading: 249.847773 deg,
      new cmd heading: 249.835073 deg.

2025-09-20T00:00:59.032Z,1758326459.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360445 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:00:59.197Z,1758326459.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510732
2025-09-20T00:00:59.378Z,1758326459.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:00:59.387Z,1758326459.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 212.120972 m,
      bearing: 261.434855 deg,
      approach rate: -0.490817 m/s,
      LOS rate: -0.015248 deg/s,
      cmd heading: 249.835069 deg,
      new cmd heading: 249.824013 deg.

2025-09-20T00:00:59.388Z,1758326459.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360251 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:00:59.450Z,1758326459.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763667
2025-09-20T00:00:59.701Z,1758326459.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014639
2025-09-20T00:00:59.827Z,1758326459.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:00:59.830Z,1758326459.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 211.899429 m,
      bearing: 261.426595 deg,
      approach rate: -0.494194 m/s,
      LOS rate: -0.018446 deg/s,
      cmd heading: 249.824004 deg,
      new cmd heading: 249.807466 deg.

2025-09-20T00:00:59.830Z,1758326459.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359963 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:00:59.953Z,1758326459.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266850
2025-09-20T00:01:00.191Z,1758326460.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:00.194Z,1758326460.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 211.721954 m,
      bearing: 261.419951 deg,
      approach rate: -0.487523 m/s,
      LOS rate: -0.018267 deg/s,
      cmd heading: 249.807475 deg,
      new cmd heading: 249.794176 deg.

2025-09-20T00:01:00.195Z,1758326460.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359731 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:00.205Z,1758326460.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518794
2025-09-20T00:01:00.457Z,1758326460.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770655
2025-09-20T00:01:00.623Z,1758326460.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:00.625Z,1758326460.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:00.628Z,1758326460.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 211.493484 m,
      bearing: 261.412103 deg,
      approach rate: -0.525877 m/s,
      LOS rate: -0.018083 deg/s,
      cmd heading: 249.794170 deg,
      new cmd heading: 249.778457 deg.

2025-09-20T00:01:00.629Z,1758326460.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359457 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:00.709Z,1758326460.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022807
2025-09-20T00:01:00.963Z,1758326460.963 [DAT](INFO): DAT read: Rx Time:00:01:01.7802

2025-09-20T00:01:00.964Z,1758326460.964 [DAT](INFO): Rx dataTimestamp_ set to:1758326460.963210
2025-09-20T00:01:00.965Z,1758326460.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278835
2025-09-20T00:01:01.044Z,1758326461.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:01.047Z,1758326461.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 211.281570 m,
      bearing: 261.404826 deg,
      approach rate: -0.511000 m/s,
      LOS rate: -0.017565 deg/s,
      cmd heading: 249.778461 deg,
      new cmd heading: 249.763892 deg.

2025-09-20T00:01:01.056Z,1758326461.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359202 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:01.213Z,1758326461.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526611
2025-09-20T00:01:01.438Z,1758326461.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:01.444Z,1758326461.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 211.080780 m,
      bearing: 261.397936 deg,
      approach rate: -0.504929 m/s,
      LOS rate: -0.017341 deg/s,
      cmd heading: 249.763899 deg,
      new cmd heading: 249.750107 deg.

2025-09-20T00:01:01.445Z,1758326461.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358962 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:01.475Z,1758326461.475 [DAT](INFO): DAT read: 00:01:01.7802 LVL= 22704, 27905, 27058, 29251, AGC= 68, IDX= 143, 0.18,-2.760, 1.510,-3.046, 3.120, PHS= 0.505,-1.565, 0.074, RAW= 138.6,  10.4, CAL= 138.1,  11.4, ROT=  11.9, -11.4

2025-09-20T00:01:01.476Z,1758326461.476 [DAT](INFO): got valid direction response:
 00:01:01.7802 LVL= 22704, 27905, 27058, 29251, AGC= 68, IDX= 143, 0.18,-2.760, 1.510,-3.046, 3.120, PHS= 0.505,-1.565, 0.074, RAW= 138.6,  10.4, CAL= 138.1,  11.4, ROT=  11.9, -11.4

2025-09-20T00:01:01.478Z,1758326461.478 [DAT](INFO): DAT read: Bearing  41.5,  12.0 (Local)

2025-09-20T00:01:01.479Z,1758326461.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.5,  12.0 (Local)

2025-09-20T00:01:01.485Z,1758326461.485 [DAT](INFO): DAT read: Range 11 to 50 : 198.2 m  (Round-trip  264.3 ms) speed  0.4 m/s

2025-09-20T00:01:01.487Z,1758326461.487 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:01.508Z,1758326461.508 [DAT](INFO): direction in FSK: [0.959204,0.202136,0.197657]
2025-09-20T00:01:01.542Z,1758326461.542 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:01.581Z,1758326461.581 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:01.581Z,1758326461.581 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:01.581Z,1758326461.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:01.717Z,1758326461.717 [DAT](INFO): DAT read: user:657>

2025-09-20T00:01:01.718Z,1758326461.718 [DAT](INFO): DAT read: Tx time:00:01:03.1618

2025-09-20T00:01:01.718Z,1758326461.718 [DAT](INFO): Ping request sent.
2025-09-20T00:01:01.718Z,1758326461.718 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:01.718Z,1758326461.718 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:01.719Z,1758326461.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-09-20T00:01:01.918Z,1758326461.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 198.199997 m,
 deltaT: 4.030444 s,
 deltaX: -21.400009 m,
 approachRate: -5.309591 m/s,
 rangeRepo size: 4
2025-09-20T00:01:01.919Z,1758326461.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:01.926Z,1758326461.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 210.837143 m,
      bearing: 261.389287 deg,
      approach rate: -0.507604 m/s,
      LOS rate: -0.018040 deg/s,
      cmd heading: 249.750102 deg,
      new cmd heading: 249.732784 deg.

2025-09-20T00:01:01.927Z,1758326461.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358659 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:01.970Z,1758326461.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251499
2025-09-20T00:01:02.222Z,1758326462.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504082
2025-09-20T00:01:02.294Z,1758326462.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:02.301Z,1758326462.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 210.634140 m,
      bearing: 261.382107 deg,
      approach rate: -0.538677 m/s,
      LOS rate: -0.019072 deg/s,
      cmd heading: 249.732780 deg,
      new cmd heading: 249.718405 deg.

2025-09-20T00:01:02.302Z,1758326462.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358408 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:02.474Z,1758326462.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755615
2025-09-20T00:01:02.726Z,1758326462.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007385
2025-09-20T00:01:02.733Z,1758326462.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:02.744Z,1758326462.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:02.757Z,1758326462.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 210.409988 m,
      bearing: 261.374258 deg,
      approach rate: -0.507633 m/s,
      LOS rate: -0.017793 deg/s,
      cmd heading: 249.718410 deg,
      new cmd heading: 249.702696 deg.

2025-09-20T00:01:02.758Z,1758326462.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358134 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:02.979Z,1758326462.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260393
2025-09-20T00:01:03.106Z,1758326463.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:03.109Z,1758326463.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 210.195953 m,
      bearing: 261.366806 deg,
      approach rate: -0.581704 m/s,
      LOS rate: -0.020275 deg/s,
      cmd heading: 249.702700 deg,
      new cmd heading: 249.687780 deg.

2025-09-20T00:01:03.110Z,1758326463.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357874 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:03.229Z,1758326463.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510716
2025-09-20T00:01:03.483Z,1758326463.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764232
2025-09-20T00:01:03.636Z,1758326463.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:03.639Z,1758326463.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 209.910233 m,
      bearing: 261.356606 deg,
      approach rate: -0.536543 m/s,
      LOS rate: -0.019180 deg/s,
      cmd heading: 249.687783 deg,
      new cmd heading: 249.667355 deg.

2025-09-20T00:01:03.640Z,1758326463.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357517 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:03.734Z,1758326463.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015941
2025-09-20T00:01:03.986Z,1758326463.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267451
2025-09-20T00:01:04.031Z,1758326464.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:04.034Z,1758326464.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 209.705246 m,
      bearing: 261.349300 deg,
      approach rate: -0.519906 m/s,
      LOS rate: -0.018549 deg/s,
      cmd heading: 249.667347 deg,
      new cmd heading: 249.652721 deg.

2025-09-20T00:01:04.035Z,1758326464.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357262 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:04.237Z,1758326464.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518637
2025-09-20T00:01:04.399Z,1758326464.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:04.401Z,1758326464.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 209.500900 m,
      bearing: 261.342068 deg,
      approach rate: -0.555450 m/s,
      LOS rate: -0.019678 deg/s,
      cmd heading: 249.652731 deg,
      new cmd heading: 249.638252 deg.

2025-09-20T00:01:04.402Z,1758326464.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357009 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:04.490Z,1758326464.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771503
2025-09-20T00:01:04.742Z,1758326464.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023212
2025-09-20T00:01:04.824Z,1758326464.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:04.826Z,1758326464.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:04.829Z,1758326464.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 209.276703 m,
      bearing: 261.335501 deg,
      approach rate: -0.524568 m/s,
      LOS rate: -0.015380 deg/s,
      cmd heading: 249.638251 deg,
      new cmd heading: 249.625104 deg.

2025-09-20T00:01:04.830Z,1758326464.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356780 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:04.993Z,1758326464.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275305
2025-09-20T00:01:05.207Z,1758326465.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:05.210Z,1758326465.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 209.076202 m,
      bearing: 261.329659 deg,
      approach rate: -0.525782 m/s,
      LOS rate: -0.015335 deg/s,
      cmd heading: 249.625109 deg,
      new cmd heading: 249.613414 deg.

2025-09-20T00:01:05.211Z,1758326465.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356576 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:05.245Z,1758326465.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527144
2025-09-20T00:01:05.500Z,1758326465.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781469
2025-09-20T00:01:05.694Z,1758326465.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:05.697Z,1758326465.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 208.814255 m,
      bearing: 261.322999 deg,
      approach rate: -0.538334 m/s,
      LOS rate: -0.013704 deg/s,
      cmd heading: 249.613416 deg,
      new cmd heading: 249.600079 deg.

2025-09-20T00:01:05.698Z,1758326465.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356343 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:05.750Z,1758326465.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031554
2025-09-20T00:01:06.001Z,1758326466.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282597
2025-09-20T00:01:06.042Z,1758326466.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:06.049Z,1758326466.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 208.630600 m,
      bearing: 261.318404 deg,
      approach rate: -0.527668 m/s,
      LOS rate: -0.013214 deg/s,
      cmd heading: 249.600083 deg,
      new cmd heading: 249.590885 deg.

2025-09-20T00:01:06.050Z,1758326466.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356183 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:06.253Z,1758326466.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535341
2025-09-20T00:01:06.433Z,1758326466.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:06.443Z,1758326466.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 208.423889 m,
      bearing: 261.313234 deg,
      approach rate: -0.528582 m/s,
      LOS rate: -0.013234 deg/s,
      cmd heading: 249.590876 deg,
      new cmd heading: 249.580526 deg.

2025-09-20T00:01:06.444Z,1758326466.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356002 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:06.506Z,1758326466.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787874
2025-09-20T00:01:06.758Z,1758326466.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039685
2025-09-20T00:01:06.858Z,1758326466.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:06.864Z,1758326466.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:06.866Z,1758326466.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 208.194962 m,
      bearing: 261.308499 deg,
      approach rate: -0.536618 m/s,
      LOS rate: -0.011111 deg/s,
      cmd heading: 249.580522 deg,
      new cmd heading: 249.571042 deg.

2025-09-20T00:01:06.867Z,1758326466.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355836 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:07.009Z,1758326467.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290866
2025-09-20T00:01:07.229Z,1758326467.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:07.231Z,1758326467.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 207.983368 m,
      bearing: 261.304156 deg,
      approach rate: -0.573080 m/s,
      LOS rate: -0.011775 deg/s,
      cmd heading: 249.571041 deg,
      new cmd heading: 249.562347 deg.

2025-09-20T00:01:07.233Z,1758326467.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355685 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:07.261Z,1758326467.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543162
2025-09-20T00:01:07.513Z,1758326467.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795045
2025-09-20T00:01:07.765Z,1758326467.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046830
2025-09-20T00:01:07.770Z,1758326467.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:07.773Z,1758326467.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 207.704010 m,
      bearing: 261.297643 deg,
      approach rate: -0.516103 m/s,
      LOS rate: -0.012048 deg/s,
      cmd heading: 249.562353 deg,
      new cmd heading: 249.549311 deg.

2025-09-20T00:01:07.774Z,1758326467.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355457 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:08.018Z,1758326468.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299697
2025-09-20T00:01:08.117Z,1758326468.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:08.124Z,1758326468.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 207.530060 m,
      bearing: 261.293583 deg,
      approach rate: -0.508565 m/s,
      LOS rate: -0.011882 deg/s,
      cmd heading: 249.549321 deg,
      new cmd heading: 249.541194 deg.

2025-09-20T00:01:08.125Z,1758326468.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355315 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:08.269Z,1758326468.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550647
2025-09-20T00:01:08.521Z,1758326468.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802779
2025-09-20T00:01:08.534Z,1758326468.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:08.537Z,1758326468.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 207.307449 m,
      bearing: 261.288369 deg,
      approach rate: -0.527653 m/s,
      LOS rate: -0.012372 deg/s,
      cmd heading: 249.541180 deg,
      new cmd heading: 249.530740 deg.

2025-09-20T00:01:08.538Z,1758326468.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355133 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:08.773Z,1758326468.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054722
2025-09-20T00:01:08.906Z,1758326468.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:08.909Z,1758326468.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:08.911Z,1758326468.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 207.117142 m,
      bearing: 261.284141 deg,
      approach rate: -0.507858 m/s,
      LOS rate: -0.011292 deg/s,
      cmd heading: 249.530743 deg,
      new cmd heading: 249.522281 deg.

2025-09-20T00:01:08.913Z,1758326468.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354985 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:09.025Z,1758326469.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306852
2025-09-20T00:01:09.277Z,1758326469.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558941
2025-09-20T00:01:09.325Z,1758326469.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:09.328Z,1758326469.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 206.906860 m,
      bearing: 261.279436 deg,
      approach rate: -0.504917 m/s,
      LOS rate: -0.011310 deg/s,
      cmd heading: 249.522274 deg,
      new cmd heading: 249.512853 deg.

2025-09-20T00:01:09.329Z,1758326469.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354821 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:09.533Z,1758326469.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814171
2025-09-20T00:01:09.751Z,1758326469.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:09.757Z,1758326469.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 206.693954 m,
      bearing: 261.274181 deg,
      approach rate: -0.500127 m/s,
      LOS rate: -0.012356 deg/s,
      cmd heading: 249.512848 deg,
      new cmd heading: 249.502329 deg.

2025-09-20T00:01:09.758Z,1758326469.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354637 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:09.781Z,1758326469.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062789
2025-09-20T00:01:10.033Z,1758326470.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314787
2025-09-20T00:01:10.119Z,1758326470.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:10.130Z,1758326470.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 206.515015 m,
      bearing: 261.269728 deg,
      approach rate: -0.486562 m/s,
      LOS rate: -0.012120 deg/s,
      cmd heading: 249.502330 deg,
      new cmd heading: 249.493415 deg.

2025-09-20T00:01:10.131Z,1758326470.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354482 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:10.285Z,1758326470.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566700
2025-09-20T00:01:10.508Z,1758326470.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:10.511Z,1758326470.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 206.311905 m,
      bearing: 261.264620 deg,
      approach rate: -0.521999 m/s,
      LOS rate: -0.013141 deg/s,
      cmd heading: 249.493423 deg,
      new cmd heading: 249.483197 deg.

2025-09-20T00:01:10.512Z,1758326470.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354303 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:10.537Z,1758326470.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818799
2025-09-20T00:01:10.789Z,1758326470.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070793
2025-09-20T00:01:10.942Z,1758326470.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:10.947Z,1758326470.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:10.952Z,1758326470.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 206.096115 m,
      bearing: 261.257255 deg,
      approach rate: -0.492117 m/s,
      LOS rate: -0.016814 deg/s,
      cmd heading: 249.483205 deg,
      new cmd heading: 249.468460 deg.

2025-09-20T00:01:10.954Z,1758326470.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354046 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:11.042Z,1758326471.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323282
2025-09-20T00:01:11.293Z,1758326471.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574589
2025-09-20T00:01:11.314Z,1758326471.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:11.317Z,1758326471.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 205.911667 m,
      bearing: 261.250945 deg,
      approach rate: -0.501369 m/s,
      LOS rate: -0.017165 deg/s,
      cmd heading: 249.468452 deg,
      new cmd heading: 249.455822 deg.

2025-09-20T00:01:11.318Z,1758326471.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353826 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:11.546Z,1758326471.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827423
2025-09-20T00:01:11.799Z,1758326471.799 [DAT](INFO): Reached modem response timeout
2025-09-20T00:01:11.800Z,1758326471.800 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:11.801Z,1758326471.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:11.850Z,1758326471.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:11.854Z,1758326471.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 205.646317 m,
      bearing: 261.239933 deg,
      approach rate: -0.494820 m/s,
      LOS rate: -0.020562 deg/s,
      cmd heading: 249.455830 deg,
      new cmd heading: 249.433777 deg.

2025-09-20T00:01:11.855Z,1758326471.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353441 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:12.052Z,1758326472.052 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:12.223Z,1758326472.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:12.226Z,1758326472.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 205.461777 m,
      bearing: 261.232257 deg,
      approach rate: -0.495095 m/s,
      LOS rate: -0.020611 deg/s,
      cmd heading: 249.433782 deg,
      new cmd heading: 249.418417 deg.

2025-09-20T00:01:12.227Z,1758326472.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353173 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:12.301Z,1758326472.301 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:12.553Z,1758326472.553 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:12.621Z,1758326472.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:12.624Z,1758326472.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 205.265121 m,
      bearing: 261.224046 deg,
      approach rate: -0.494208 m/s,
      LOS rate: -0.020655 deg/s,
      cmd heading: 249.418428 deg,
      new cmd heading: 249.401989 deg.

2025-09-20T00:01:12.625Z,1758326472.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352886 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:12.805Z,1758326472.805 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:13.039Z,1758326473.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:13.045Z,1758326473.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:13.052Z,1758326473.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 205.060577 m,
      bearing: 261.215592 deg,
      approach rate: -0.482369 m/s,
      LOS rate: -0.019956 deg/s,
      cmd heading: 249.401981 deg,
      new cmd heading: 249.385056 deg.

2025-09-20T00:01:13.053Z,1758326473.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352591 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:13.057Z,1758326473.057 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:13.309Z,1758326473.309 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:13.419Z,1758326473.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:13.421Z,1758326473.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 204.857437 m,
      bearing: 261.207197 deg,
      approach rate: -0.544082 m/s,
      LOS rate: -0.022508 deg/s,
      cmd heading: 249.385069 deg,
      new cmd heading: 249.368262 deg.

2025-09-20T00:01:13.422Z,1758326473.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352297 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:13.561Z,1758326473.561 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:13.813Z,1758326473.813 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:13.826Z,1758326473.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:13.830Z,1758326473.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 204.644455 m,
      bearing: 261.198070 deg,
      approach rate: -0.522307 m/s,
      LOS rate: -0.022407 deg/s,
      cmd heading: 249.368267 deg,
      new cmd heading: 249.349993 deg.

2025-09-20T00:01:13.831Z,1758326473.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351978 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:14.065Z,1758326474.065 [DAT](INFO): DAT read: Response Not Received

2025-09-20T00:01:14.065Z,1758326474.065 [DAT](INFO): response not received
2025-09-20T00:01:14.066Z,1758326474.066 [DAT](INFO): DAT read: user:658>

2025-09-20T00:01:14.066Z,1758326474.066 [DAT](ERROR): No response from remote modem.
2025-09-20T00:01:14.066Z,1758326474.066 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:14.066Z,1758326474.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:14.207Z,1758326474.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:14.210Z,1758326474.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 204.448181 m,
      bearing: 261.189645 deg,
      approach rate: -0.515202 m/s,
      LOS rate: -0.022136 deg/s,
      cmd heading: 249.349989 deg,
      new cmd heading: 249.333123 deg.

2025-09-20T00:01:14.211Z,1758326474.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351684 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:14.318Z,1758326474.318 [DAT](INFO): DAT read: Tx time:00:01:15.6117

2025-09-20T00:01:14.318Z,1758326474.318 [DAT](INFO): Ping request sent.
2025-09-20T00:01:14.318Z,1758326474.318 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:14.319Z,1758326474.319 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:14.319Z,1758326474.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-09-20T00:01:14.569Z,1758326474.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250453
2025-09-20T00:01:14.626Z,1758326474.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:14.629Z,1758326474.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 204.227417 m,
      bearing: 261.180162 deg,
      approach rate: -0.527304 m/s,
      LOS rate: -0.022676 deg/s,
      cmd heading: 249.333132 deg,
      new cmd heading: 249.314145 deg.

2025-09-20T00:01:14.630Z,1758326474.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351353 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:14.821Z,1758326474.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502315
2025-09-20T00:01:15.041Z,1758326475.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:15.043Z,1758326475.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 204.014389 m,
      bearing: 261.172845 deg,
      approach rate: -0.513662 m/s,
      LOS rate: -0.017660 deg/s,
      cmd heading: 249.314144 deg,
      new cmd heading: 249.299496 deg.

2025-09-20T00:01:15.044Z,1758326475.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351097 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:15.074Z,1758326475.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754841
2025-09-20T00:01:15.144Z,1758326475.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:01:15.325Z,1758326475.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006619
2025-09-20T00:01:15.418Z,1758326475.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:15.420Z,1758326475.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:15.423Z,1758326475.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 203.819580 m,
      bearing: 261.166145 deg,
      approach rate: -0.513811 m/s,
      LOS rate: -0.017690 deg/s,
      cmd heading: 249.299500 deg,
      new cmd heading: 249.286086 deg.

2025-09-20T00:01:15.424Z,1758326475.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350863 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:15.577Z,1758326475.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258375
2025-09-20T00:01:15.829Z,1758326475.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510777
2025-09-20T00:01:15.867Z,1758326475.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:15.870Z,1758326475.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 203.591446 m,
      bearing: 261.160046 deg,
      approach rate: -0.510227 m/s,
      LOS rate: -0.013655 deg/s,
      cmd heading: 249.286086 deg,
      new cmd heading: 249.273875 deg.

2025-09-20T00:01:15.871Z,1758326475.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350650 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:16.082Z,1758326476.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763017
2025-09-20T00:01:16.148Z,1758326476.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:01:16.228Z,1758326476.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:16.231Z,1758326476.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 203.383972 m,
      bearing: 261.154506 deg,
      approach rate: -0.574729 m/s,
      LOS rate: -0.015362 deg/s,
      cmd heading: 249.273874 deg,
      new cmd heading: 249.262782 deg.

2025-09-20T00:01:16.232Z,1758326476.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350456 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:16.333Z,1758326476.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014476
2025-09-20T00:01:16.585Z,1758326476.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266447
2025-09-20T00:01:16.639Z,1758326476.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:16.646Z,1758326476.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 203.167389 m,
      bearing: 261.148712 deg,
      approach rate: -0.527307 m/s,
      LOS rate: -0.014122 deg/s,
      cmd heading: 249.262781 deg,
      new cmd heading: 249.251181 deg.

2025-09-20T00:01:16.647Z,1758326476.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350254 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:16.837Z,1758326476.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518551
2025-09-20T00:01:17.076Z,1758326477.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:17.079Z,1758326477.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 202.950211 m,
      bearing: 261.143822 deg,
      approach rate: -0.496542 m/s,
      LOS rate: -0.011192 deg/s,
      cmd heading: 249.251170 deg,
      new cmd heading: 249.241380 deg.

2025-09-20T00:01:17.083Z,1758326477.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350083 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:17.089Z,1758326477.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770487
2025-09-20T00:01:17.342Z,1758326477.342 [DAT](INFO): DAT read: Rx Time:00:01:18.2960

2025-09-20T00:01:17.342Z,1758326477.342 [DAT](INFO): Rx dataTimestamp_ set to:1758326477.342132
2025-09-20T00:01:17.343Z,1758326477.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024483
2025-09-20T00:01:17.483Z,1758326477.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:17.485Z,1758326477.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:17.488Z,1758326477.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 202.739120 m,
      bearing: 261.139070 deg,
      approach rate: -0.516181 m/s,
      LOS rate: -0.011630 deg/s,
      cmd heading: 249.241389 deg,
      new cmd heading: 249.231877 deg.

2025-09-20T00:01:17.489Z,1758326477.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349917 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:17.593Z,1758326477.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274523
2025-09-20T00:01:17.848Z,1758326477.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529076
2025-09-20T00:01:17.971Z,1758326477.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.02 m.
2025-09-20T00:01:17.974Z,1758326477.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.022018 m,
      nav range: 202.482635 m,
      bearing: 261.134204 deg,
      approach rate: -0.527902 m/s,
      LOS rate: -0.010030 deg/s,
      cmd heading: 249.231882 deg,
      new cmd heading: 249.222135 deg.

2025-09-20T00:01:17.975Z,1758326477.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349747 target range: 219.022018 and range: 219.60 m.
2025-09-20T00:01:18.103Z,1758326478.103 [DAT](INFO): DAT read: 00:01:18.2960 LVL= 23328, 27633, 27122, 29059, AGC= 70, IDX=  66, 0.05, 0.849,-1.045, 0.548, 0.484, PHS= 0.468,-1.484, 0.021, RAW= 137.4,  11.2, CAL= 136.8,  12.3, ROT=  13.2, -12.3

2025-09-20T00:01:18.104Z,1758326478.104 [DAT](INFO): got valid direction response:
 00:01:18.2960 LVL= 23328, 27633, 27122, 29059, AGC= 70, IDX=  66, 0.05, 0.849,-1.045, 0.548, 0.484, PHS= 0.468,-1.484, 0.021, RAW= 137.4,  11.2, CAL= 136.8,  12.3, ROT=  13.2, -12.3

2025-09-20T00:01:18.105Z,1758326478.105 [DAT](INFO): DAT read: Bearing  40.9,  11.9 (Local)

2025-09-20T00:01:18.106Z,1758326478.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.9,  11.9 (Local)

2025-09-20T00:01:18.107Z,1758326478.107 [DAT](INFO): DAT read: Range 11 to 50 : 210.1 m  (Round-trip  280.2 ms) speed  0.0 m/s

2025-09-20T00:01:18.108Z,1758326478.108 [DAT](INFO): DAT read: user:659>

2025-09-20T00:01:18.109Z,1758326478.109 [DAT](INFO): DAT read: Tx time:00:01:19.4117

2025-09-20T00:01:18.109Z,1758326478.109 [DAT](INFO): Ping request sent.
2025-09-20T00:01:18.109Z,1758326478.109 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:18.109Z,1758326478.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:18.110Z,1758326478.110 [DAT](INFO): direction in FSK: [0.951231,0.223109,0.213030]
2025-09-20T00:01:18.111Z,1758326478.111 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:18.111Z,1758326478.111 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:18.114Z,1758326478.114 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:18.114Z,1758326478.114 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:18.334Z,1758326478.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 210.100006 m,
      deltaT: 20.661841 s,
      deltaX: -9.500000 m,
      approachRate: -0.459785 m/s,
      rangeRepo size: 4

2025-09-20T00:01:18.341Z,1758326478.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 209.547073 m,
      bearing: 262.619833 deg,
      lat: 36.779457 deg,
      lon: -121.859890 deg,
      deltaT: 20.661841 s,
      deltaX: -9.474945 m,
      approachRate: -0.458572 m/s,
      posRepo size: 4

2025-09-20T00:01:18.342Z,1758326478.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:18.350Z,1758326478.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 202.654510 m,
      bearing: 261.900754 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010030 deg/s,
      cmd heading: 249.222128 deg,
      new cmd heading: 249.214854 deg.

2025-09-20T00:01:18.350Z,1758326478.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349620 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:18.743Z,1758326478.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:18.757Z,1758326478.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 202.451431 m,
      bearing: 261.897700 deg,
      approach rate: -0.496271 m/s,
      LOS rate: -0.007469 deg/s,
      cmd heading: 249.214861 deg,
      new cmd heading: 249.208748 deg.

2025-09-20T00:01:18.777Z,1758326478.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349513 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:19.192Z,1758326479.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:19.195Z,1758326479.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 202.202454 m,
      bearing: 261.894354 deg,
      approach rate: -0.554316 m/s,
      LOS rate: -0.007459 deg/s,
      cmd heading: 249.208741 deg,
      new cmd heading: 249.202040 deg.

2025-09-20T00:01:19.196Z,1758326479.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349396 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:19.564Z,1758326479.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:19.566Z,1758326479.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:19.570Z,1758326479.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 202.006531 m,
      bearing: 261.891703 deg,
      approach rate: -0.523023 m/s,
      LOS rate: -0.007084 deg/s,
      cmd heading: 249.202047 deg,
      new cmd heading: 249.196740 deg.

2025-09-20T00:01:19.571Z,1758326479.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349304 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:19.611Z,1758326479.611 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:19.611Z,1758326479.611 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:19.612Z,1758326479.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:19.861Z,1758326479.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751664
2025-09-20T00:01:20.012Z,1758326480.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:20.015Z,1758326480.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 201.772354 m,
      bearing: 261.888356 deg,
      approach rate: -0.525867 m/s,
      LOS rate: -0.007525 deg/s,
      cmd heading: 249.196747 deg,
      new cmd heading: 249.190045 deg.

2025-09-20T00:01:20.016Z,1758326480.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349187 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:20.114Z,1758326480.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004286
2025-09-20T00:01:20.365Z,1758326480.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255828
2025-09-20T00:01:20.378Z,1758326480.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:20.381Z,1758326480.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 201.580048 m,
      bearing: 261.885600 deg,
      approach rate: -0.525703 m/s,
      LOS rate: -0.007540 deg/s,
      cmd heading: 249.190054 deg,
      new cmd heading: 249.184537 deg.

2025-09-20T00:01:20.382Z,1758326480.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349091 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:20.617Z,1758326480.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507795
2025-09-20T00:01:20.803Z,1758326480.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:20.814Z,1758326480.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 201.357910 m,
      bearing: 261.882411 deg,
      approach rate: -0.522995 m/s,
      LOS rate: -0.007518 deg/s,
      cmd heading: 249.184535 deg,
      new cmd heading: 249.178148 deg.

2025-09-20T00:01:20.818Z,1758326480.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348979 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:20.870Z,1758326480.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760456
2025-09-20T00:01:21.121Z,1758326481.121 [DAT](INFO): DAT read: Rx Time:00:01:22.0939

2025-09-20T00:01:21.121Z,1758326481.121 [DAT](INFO): Rx dataTimestamp_ set to:1758326481.121157
2025-09-20T00:01:21.122Z,1758326481.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012791
2025-09-20T00:01:21.274Z,1758326481.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:21.277Z,1758326481.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 201.111176 m,
      bearing: 261.878201 deg,
      approach rate: -0.522544 m/s,
      LOS rate: -0.008926 deg/s,
      cmd heading: 249.178142 deg,
      new cmd heading: 249.169713 deg.

2025-09-20T00:01:21.278Z,1758326481.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348832 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:21.374Z,1758326481.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264392
2025-09-20T00:01:21.589Z,1758326481.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:21.591Z,1758326481.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.55 m.
2025-09-20T00:01:21.594Z,1758326481.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.547073 m,
      nav range: 200.946732 m,
      bearing: 261.875386 deg,
      approach rate: -0.519741 m/s,
      LOS rate: -0.008905 deg/s,
      cmd heading: 249.169700 deg,
      new cmd heading: 249.164064 deg.

2025-09-20T00:01:21.595Z,1758326481.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348733 target range: 209.547073 and range: 210.10 m.
2025-09-20T00:01:21.625Z,1758326481.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516233
2025-09-20T00:01:21.882Z,1758326481.882 [DAT](INFO): DAT read: 00:01:22.0939 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.29,-1.255,-2.597,-1.294,-2.544, PHS= 1.391,-0.008, 1.206, RAW= 143.0, -34.8, CAL= 144.2, -34.7, ROT=   5.8,  34.7

2025-09-20T00:01:21.884Z,1758326481.884 [DAT](INFO): got valid direction response:
 00:01:22.0939 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.29,-1.255,-2.597,-1.294,-2.544, PHS= 1.391,-0.008, 1.206, RAW= 143.0, -34.8, CAL= 144.2, -34.7, ROT=   5.8,  34.7

2025-09-20T00:01:21.885Z,1758326481.885 [DAT](INFO): DAT read: Bearing 353.1,   4.6 (Local)

2025-09-20T00:01:21.885Z,1758326481.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.1,   4.6 (Local)

2025-09-20T00:01:21.886Z,1758326481.886 [DAT](INFO): DAT read: Range 11 to 50 : 208.5 m  (Round-trip  278.1 ms) speed  0.4 m/s

2025-09-20T00:01:21.887Z,1758326481.887 [DAT](INFO): DAT read: user:660>

2025-09-20T00:01:21.888Z,1758326481.888 [DAT](INFO): DAT read: Tx time:00:01:23.2117

2025-09-20T00:01:21.888Z,1758326481.888 [DAT](INFO): Ping request sent.
2025-09-20T00:01:21.888Z,1758326481.888 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:21.889Z,1758326481.889 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:21.890Z,1758326481.890 [DAT](INFO): direction in FSK: [0.817935,0.083083,-0.569280]
2025-09-20T00:01:21.890Z,1758326481.890 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:21.890Z,1758326481.890 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:21.894Z,1758326481.894 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:21.894Z,1758326481.894 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:22.069Z,1758326482.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 208.500000 m,
      deltaT: 3.779908 s,
      deltaX: -1.600006 m,
      approachRate: -0.423292 m/s,
      rangeRepo size: 4

2025-09-20T00:01:22.071Z,1758326482.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 207.951462 m,
      bearing: 254.145451 deg,
      lat: 36.779457 deg,
      lon: -121.859691 deg,
      deltaT: 3.779908 s,
      deltaX: -1.595612 m,
      approachRate: -0.422130 m/s,
      posRepo size: 4

2025-09-20T00:01:22.076Z,1758326482.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:22.079Z,1758326482.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 183.196335 m,
      bearing: 261.086263 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008905 deg/s,
      cmd heading: 249.164071 deg,
      new cmd heading: 249.155565 deg.

2025-09-20T00:01:22.084Z,1758326482.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348585 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:22.412Z,1758326482.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:22.415Z,1758326482.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 183.012329 m,
      bearing: 261.080708 deg,
      approach rate: -0.536032 m/s,
      LOS rate: -0.016198 deg/s,
      cmd heading: 249.155575 deg,
      new cmd heading: 249.144454 deg.

2025-09-20T00:01:22.416Z,1758326482.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348391 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:22.807Z,1758326482.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:22.810Z,1758326482.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 182.812607 m,
      bearing: 261.074677 deg,
      approach rate: -0.504655 m/s,
      LOS rate: -0.015257 deg/s,
      cmd heading: 249.144455 deg,
      new cmd heading: 249.132379 deg.

2025-09-20T00:01:22.811Z,1758326482.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348180 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:23.222Z,1758326483.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:23.225Z,1758326483.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 182.603439 m,
      bearing: 261.066779 deg,
      approach rate: -0.504786 m/s,
      LOS rate: -0.019081 deg/s,
      cmd heading: 249.132379 deg,
      new cmd heading: 249.116566 deg.

2025-09-20T00:01:23.226Z,1758326483.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347904 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:23.603Z,1758326483.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:23.605Z,1758326483.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:23.607Z,1758326483.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 182.410278 m,
      bearing: 261.059437 deg,
      approach rate: -0.504382 m/s,
      LOS rate: -0.019192 deg/s,
      cmd heading: 249.116561 deg,
      new cmd heading: 249.101861 deg.

2025-09-20T00:01:23.609Z,1758326483.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347648 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:23.641Z,1758326483.641 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:23.641Z,1758326483.641 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:23.642Z,1758326483.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:23.896Z,1758326483.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006741
2025-09-20T00:01:24.024Z,1758326484.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:24.027Z,1758326484.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 182.195694 m,
      bearing: 261.050034 deg,
      approach rate: -0.511800 m/s,
      LOS rate: -0.022454 deg/s,
      cmd heading: 249.101862 deg,
      new cmd heading: 249.083033 deg.

2025-09-20T00:01:24.028Z,1758326484.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347319 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:24.146Z,1758326484.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257324
2025-09-20T00:01:24.397Z,1758326484.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508670
2025-09-20T00:01:24.415Z,1758326484.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:24.444Z,1758326484.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 181.996216 m,
      bearing: 261.041266 deg,
      approach rate: -0.511187 m/s,
      LOS rate: -0.022493 deg/s,
      cmd heading: 249.083038 deg,
      new cmd heading: 249.065483 deg.

2025-09-20T00:01:24.446Z,1758326484.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347013 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:24.649Z,1758326484.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760470
2025-09-20T00:01:24.814Z,1758326484.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:24.816Z,1758326484.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 181.792130 m,
      bearing: 261.032272 deg,
      approach rate: -0.511151 m/s,
      LOS rate: -0.022551 deg/s,
      cmd heading: 249.065471 deg,
      new cmd heading: 249.047463 deg.

2025-09-20T00:01:24.817Z,1758326484.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346698 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:24.908Z,1758326484.908 [DAT](INFO): DAT read: Rx Time:00:01:25.8916

2025-09-20T00:01:24.910Z,1758326484.910 [DAT](INFO): Rx dataTimestamp_ set to:1758326484.908913
2025-09-20T00:01:24.911Z,1758326484.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022719
2025-09-20T00:01:25.157Z,1758326485.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268574
2025-09-20T00:01:25.269Z,1758326485.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:25.272Z,1758326485.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 181.569504 m,
      bearing: 261.022059 deg,
      approach rate: -0.488564 m/s,
      LOS rate: -0.022441 deg/s,
      cmd heading: 249.047466 deg,
      new cmd heading: 249.027015 deg.

2025-09-20T00:01:25.273Z,1758326485.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346341 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:25.409Z,1758326485.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520514
2025-09-20T00:01:25.623Z,1758326485.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:25.625Z,1758326485.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.95 m.
2025-09-20T00:01:25.628Z,1758326485.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.951462 m,
      nav range: 181.381180 m,
      bearing: 261.013415 deg,
      approach rate: -0.528652 m/s,
      LOS rate: -0.024289 deg/s,
      cmd heading: 249.027003 deg,
      new cmd heading: 249.009698 deg.

2025-09-20T00:01:25.629Z,1758326485.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346039 target range: 207.951462 and range: 208.50 m.
2025-09-20T00:01:25.675Z,1758326485.675 [DAT](INFO): DAT read: 00:01:25.8916 LVL= 31680, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.48,-1.742,-3.097,-1.808,-2.878, PHS= 1.238,-0.174, 1.026, RAW= 142.0, -29.3, CAL= 143.0, -30.2, ROT=   7.0,  30.2

2025-09-20T00:01:25.677Z,1758326485.677 [DAT](INFO): got valid direction response:
 00:01:25.8916 LVL= 31680, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.48,-1.742,-3.097,-1.808,-2.878, PHS= 1.238,-0.174, 1.026, RAW= 142.0, -29.3, CAL= 143.0, -30.2, ROT=   7.0,  30.2

2025-09-20T00:01:25.679Z,1758326485.679 [DAT](INFO): DAT read: Bearing 357.5,   5.9 (Local)

2025-09-20T00:01:25.679Z,1758326485.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,   5.9 (Local)

2025-09-20T00:01:25.681Z,1758326485.681 [DAT](INFO): DAT read: Range 11 to 50 : 206.7 m  (Round-trip  275.7 ms) speed  0.4 m/s

2025-09-20T00:01:25.682Z,1758326485.682 [DAT](INFO): DAT read: user:661>

2025-09-20T00:01:25.683Z,1758326485.683 [DAT](INFO): DAT read: Tx time:00:01:27.0117

2025-09-20T00:01:25.696Z,1758326485.696 [DAT](INFO): Ping request sent.
2025-09-20T00:01:25.696Z,1758326485.696 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:25.696Z,1758326485.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:25.697Z,1758326485.697 [DAT](INFO): direction in FSK: [0.857833,0.105329,-0.503020]
2025-09-20T00:01:25.698Z,1758326485.698 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:25.698Z,1758326485.698 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:25.717Z,1758326485.717 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:25.718Z,1758326485.718 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:26.063Z,1758326486.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 206.699997 m,
      deltaT: 3.784741 s,
      deltaX: -1.800003 m,
      approachRate: -0.475595 m/s,
      rangeRepo size: 4

2025-09-20T00:01:26.077Z,1758326486.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 206.156265 m,
      bearing: 255.490140 deg,
      lat: 36.779315 deg,
      lon: -121.859632 deg,
      deltaT: 3.784741 s,
      deltaX: -1.795197 m,
      approachRate: -0.474325 m/s,
      posRepo size: 4

2025-09-20T00:01:26.078Z,1758326486.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:26.085Z,1758326486.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 179.253754 m,
      bearing: 255.751167 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024289 deg/s,
      cmd heading: 249.009709 deg,
      new cmd heading: 248.988482 deg.

2025-09-20T00:01:26.086Z,1758326486.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345669 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:26.456Z,1758326486.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:26.459Z,1758326486.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 179.062439 m,
      bearing: 255.736251 deg,
      approach rate: -0.485541 m/s,
      LOS rate: -0.037898 deg/s,
      cmd heading: 248.988481 deg,
      new cmd heading: 248.958616 deg.

2025-09-20T00:01:26.465Z,1758326486.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345148 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:26.828Z,1758326486.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:26.831Z,1758326486.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 178.863876 m,
      bearing: 255.720762 deg,
      approach rate: -0.534220 m/s,
      LOS rate: -0.041716 deg/s,
      cmd heading: 248.958619 deg,
      new cmd heading: 248.927609 deg.

2025-09-20T00:01:26.832Z,1758326486.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344606 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:27.260Z,1758326487.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:27.263Z,1758326487.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 178.646713 m,
      bearing: 255.704895 deg,
      approach rate: -0.502982 m/s,
      LOS rate: -0.036796 deg/s,
      cmd heading: 248.927610 deg,
      new cmd heading: 248.895837 deg.

2025-09-20T00:01:27.264Z,1758326487.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344052 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:27.635Z,1758326487.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:27.637Z,1758326487.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:27.640Z,1758326487.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 178.457062 m,
      bearing: 255.691030 deg,
      approach rate: -0.502672 m/s,
      LOS rate: -0.036790 deg/s,
      cmd heading: 248.895836 deg,
      new cmd heading: 248.868076 deg.

2025-09-20T00:01:27.641Z,1758326487.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343567 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:27.677Z,1758326487.677 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:27.677Z,1758326487.677 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:27.677Z,1758326487.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:27.932Z,1758326487.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235601
2025-09-20T00:01:28.072Z,1758326488.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:28.075Z,1758326488.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 178.233719 m,
      bearing: 255.674933 deg,
      approach rate: -0.513125 m/s,
      LOS rate: -0.037028 deg/s,
      cmd heading: 248.868078 deg,
      new cmd heading: 248.835845 deg.

2025-09-20T00:01:28.076Z,1758326488.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343005 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:28.182Z,1758326488.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485418
2025-09-20T00:01:28.434Z,1758326488.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737720
2025-09-20T00:01:28.489Z,1758326488.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:28.492Z,1758326488.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 178.019516 m,
      bearing: 255.659456 deg,
      approach rate: -0.513755 m/s,
      LOS rate: -0.037165 deg/s,
      cmd heading: 248.835840 deg,
      new cmd heading: 248.804849 deg.

2025-09-20T00:01:28.493Z,1758326488.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342464 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:28.685Z,1758326488.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988771
2025-09-20T00:01:28.874Z,1758326488.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:28.877Z,1758326488.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 177.822021 m,
      bearing: 255.645234 deg,
      approach rate: -0.513013 m/s,
      LOS rate: -0.036984 deg/s,
      cmd heading: 248.804858 deg,
      new cmd heading: 248.776383 deg.

2025-09-20T00:01:28.878Z,1758326488.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341967 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:28.942Z,1758326488.942 [DAT](INFO): DAT read: Rx Time:00:01:29.6613

2025-09-20T00:01:28.946Z,1758326488.946 [DAT](INFO): Rx dataTimestamp_ set to:1758326488.942869
2025-09-20T00:01:28.948Z,1758326488.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251026
2025-09-20T00:01:29.193Z,1758326489.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497226
2025-09-20T00:01:29.329Z,1758326489.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:29.331Z,1758326489.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 177.601837 m,
      bearing: 255.630712 deg,
      approach rate: -0.484568 m/s,
      LOS rate: -0.032000 deg/s,
      cmd heading: 248.776390 deg,
      new cmd heading: 248.747308 deg.

2025-09-20T00:01:29.333Z,1758326489.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341460 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:29.453Z,1758326489.453 [DAT](INFO): DAT read: 00:01:29.6613 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 126, 0.09, 3.037, 1.013, 2.694, 2.626, PHS= 0.513,-1.568, 0.024, RAW= 137.0,  11.0, CAL= 136.5,  12.0, ROT=  13.5, -12.0

2025-09-20T00:01:29.454Z,1758326489.454 [DAT](INFO): got valid direction response:
 00:01:29.6613 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 126, 0.09, 3.037, 1.013, 2.694, 2.626, PHS= 0.513,-1.568, 0.024, RAW= 137.0,  11.0, CAL= 136.5,  12.0, ROT=  13.5, -12.0

2025-09-20T00:01:29.455Z,1758326489.455 [DAT](INFO): DAT read: Bearing  40.0,  11.7 (Local)

2025-09-20T00:01:29.455Z,1758326489.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.0,  11.7 (Local)

2025-09-20T00:01:29.456Z,1758326489.456 [DAT](INFO): DAT read: Range 11 to 50 : 184.1 m  (Round-trip  245.5 ms) speed  0.3 m/s

2025-09-20T00:01:29.457Z,1758326489.457 [DAT](INFO): DAT read: user:662>

2025-09-20T00:01:29.458Z,1758326489.458 [DAT](INFO): DAT read: Tx time:00:01:30.7617

2025-09-20T00:01:29.458Z,1758326489.458 [DAT](INFO): Ping request sent.
2025-09-20T00:01:29.458Z,1758326489.458 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:29.458Z,1758326489.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:29.459Z,1758326489.459 [DAT](INFO): direction in FSK: [0.951121,0.228344,0.207912]
2025-09-20T00:01:29.468Z,1758326489.468 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:29.472Z,1758326489.472 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:29.475Z,1758326489.475 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:29.475Z,1758326489.475 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:29.718Z,1758326489.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 184.100006 m,
 deltaT: 3.784296 s,
 deltaX: -22.599991 m,
 approachRate: -5.972046 m/s,
 rangeRepo size: 4
2025-09-20T00:01:29.719Z,1758326489.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:29.722Z,1758326489.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 177.415771 m,
      bearing: 255.618427 deg,
      approach rate: -0.478914 m/s,
      LOS rate: -0.031652 deg/s,
      cmd heading: 248.747321 deg,
      new cmd heading: 248.722726 deg.

2025-09-20T00:01:29.724Z,1758326489.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341031 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:30.139Z,1758326490.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:30.141Z,1758326490.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:30.144Z,1758326490.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 177.207962 m,
      bearing: 255.604758 deg,
      approach rate: -0.490257 m/s,
      LOS rate: -0.032285 deg/s,
      cmd heading: 248.722732 deg,
      new cmd heading: 248.695362 deg.

2025-09-20T00:01:30.145Z,1758326490.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340553 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:30.202Z,1758326490.202 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:30.202Z,1758326490.202 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:30.202Z,1758326490.202 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:30.453Z,1758326490.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994648
2025-09-20T00:01:30.574Z,1758326490.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:30.578Z,1758326490.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 176.997681 m,
      bearing: 255.590927 deg,
      approach rate: -0.486187 m/s,
      LOS rate: -0.032018 deg/s,
      cmd heading: 248.695357 deg,
      new cmd heading: 248.667660 deg.

2025-09-20T00:01:30.579Z,1758326490.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340069 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:30.705Z,1758326490.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246623
2025-09-20T00:01:30.957Z,1758326490.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498611
2025-09-20T00:01:31.037Z,1758326491.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:31.044Z,1758326491.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 176.774780 m,
      bearing: 255.576227 deg,
      approach rate: -0.480594 m/s,
      LOS rate: -0.031734 deg/s,
      cmd heading: 248.667653 deg,
      new cmd heading: 248.638217 deg.

2025-09-20T00:01:31.045Z,1758326491.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339556 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:31.209Z,1758326491.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750672
2025-09-20T00:01:31.378Z,1758326491.378 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS96,  79.67
2025-09-20T00:01:31.399Z,1758326491.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:31.415Z,1758326491.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 176.596878 m,
      bearing: 255.564467 deg,
      approach rate: -0.491478 m/s,
      LOS rate: -0.032519 deg/s,
      cmd heading: 248.638229 deg,
      new cmd heading: 248.614687 deg.

2025-09-20T00:01:31.419Z,1758326491.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339145 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:31.461Z,1758326491.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002707
2025-09-20T00:01:31.713Z,1758326491.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254724
2025-09-20T00:01:31.851Z,1758326491.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:31.854Z,1758326491.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 176.381622 m,
      bearing: 255.550227 deg,
      approach rate: -0.476445 m/s,
      LOS rate: -0.031558 deg/s,
      cmd heading: 248.614678 deg,
      new cmd heading: 248.586162 deg.

2025-09-20T00:01:31.855Z,1758326491.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338647 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:31.968Z,1758326491.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509297
2025-09-20T00:01:32.225Z,1758326492.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766989
2025-09-20T00:01:32.267Z,1758326492.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:32.269Z,1758326492.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:32.272Z,1758326492.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 176.172546 m,
      bearing: 255.539156 deg,
      approach rate: -0.500461 m/s,
      LOS rate: -0.026532 deg/s,
      cmd heading: 248.586156 deg,
      new cmd heading: 248.563987 deg.

2025-09-20T00:01:32.273Z,1758326492.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338260 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:32.469Z,1758326492.469 [DAT](INFO): DAT read: Rx Time:00:01:33.4087

2025-09-20T00:01:32.470Z,1758326492.470 [DAT](INFO): Rx dataTimestamp_ set to:1758326492.469428
2025-09-20T00:01:32.471Z,1758326492.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012369
2025-09-20T00:01:32.614Z,1758326492.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:32.617Z,1758326492.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 176.002869 m,
      bearing: 255.530156 deg,
      approach rate: -0.492033 m/s,
      LOS rate: -0.026124 deg/s,
      cmd heading: 248.563998 deg,
      new cmd heading: 248.545981 deg.

2025-09-20T00:01:32.622Z,1758326492.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337946 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:32.722Z,1758326492.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263424
2025-09-20T00:01:32.984Z,1758326492.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517184
2025-09-20T00:01:33.099Z,1758326493.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.16 m.
2025-09-20T00:01:33.102Z,1758326493.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 206.156265 m,
      nav range: 175.763565 m,
      bearing: 255.517507 deg,
      approach rate: -0.493137 m/s,
      LOS rate: -0.026100 deg/s,
      cmd heading: 248.545994 deg,
      new cmd heading: 248.520663 deg.

2025-09-20T00:01:33.103Z,1758326493.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337504 target range: 206.156265 and range: 206.70 m.
2025-09-20T00:01:33.234Z,1758326493.234 [DAT](INFO): DAT read: 00:01:33.4087 LVL= 32208, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.39,-2.733, 1.745,-3.040,-3.084, PHS= 0.453,-1.409, 0.001, RAW= 136.5,  11.4, CAL= 136.0,  12.4, ROT=  14.0, -12.4

2025-09-20T00:01:33.235Z,1758326493.235 [DAT](INFO): got valid direction response:
 00:01:33.4087 LVL= 32208, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.39,-2.733, 1.745,-3.040,-3.084, PHS= 0.453,-1.409, 0.001, RAW= 136.5,  11.4, CAL= 136.0,  12.4, ROT=  14.0, -12.4

2025-09-20T00:01:33.236Z,1758326493.236 [DAT](INFO): DAT read: Bearing  40.2,  12.0 (Local)

2025-09-20T00:01:33.236Z,1758326493.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.2,  12.0 (Local)

2025-09-20T00:01:33.237Z,1758326493.237 [DAT](INFO): DAT read: Range 11 to 50 : 182.1 m  (Round-trip  242.9 ms) speed  0.5 m/s

2025-09-20T00:01:33.238Z,1758326493.238 [DAT](INFO): DAT read: user:663>

2025-09-20T00:01:33.239Z,1758326493.239 [DAT](INFO): DAT read: Tx time:00:01:34.5117

2025-09-20T00:01:33.239Z,1758326493.239 [DAT](INFO): Ping request sent.
2025-09-20T00:01:33.239Z,1758326493.239 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:33.239Z,1758326493.239 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:33.245Z,1758326493.245 [DAT](INFO): direction in FSK: [0.947661,0.236278,0.214735]
2025-09-20T00:01:33.245Z,1758326493.245 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:33.245Z,1758326493.245 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:33.249Z,1758326493.249 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:33.250Z,1758326493.250 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:33.483Z,1758326493.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.100006 m,
      deltaT: 7.563247 s,
      deltaX: -24.599991 m,
      approachRate: -3.252570 m/s,
      rangeRepo size: 4

2025-09-20T00:01:33.485Z,1758326493.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.620422 m,
      bearing: 263.079140 deg,
      lat: 36.779476 deg,
      lon: -121.859712 deg,
      deltaT: 7.563247 s,
      deltaX: -24.535843 m,
      approachRate: -3.244089 m/s,
      posRepo size: 4

2025-09-20T00:01:33.486Z,1758326493.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:33.489Z,1758326493.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 178.972687 m,
      bearing: 261.652593 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026100 deg/s,
      cmd heading: 248.520668 deg,
      new cmd heading: 248.500664 deg.

2025-09-20T00:01:33.490Z,1758326493.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337155 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:33.859Z,1758326493.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:33.863Z,1758326493.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 178.782364 m,
      bearing: 261.649341 deg,
      approach rate: -0.505639 m/s,
      LOS rate: -0.008650 deg/s,
      cmd heading: 248.500669 deg,
      new cmd heading: 248.494157 deg.

2025-09-20T00:01:33.864Z,1758326493.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337041 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:34.344Z,1758326494.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:34.346Z,1758326494.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:34.349Z,1758326494.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 178.539444 m,
      bearing: 261.643265 deg,
      approach rate: -0.498289 m/s,
      LOS rate: -0.012480 deg/s,
      cmd heading: 248.494167 deg,
      new cmd heading: 248.481998 deg.

2025-09-20T00:01:34.350Z,1758326494.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336829 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:34.485Z,1758326494.485 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:34.485Z,1758326494.485 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:34.485Z,1758326494.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:34.677Z,1758326494.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:34.680Z,1758326494.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 178.374252 m,
      bearing: 261.639130 deg,
      approach rate: -0.499382 m/s,
      LOS rate: -0.012511 deg/s,
      cmd heading: 248.482009 deg,
      new cmd heading: 248.473732 deg.

2025-09-20T00:01:34.681Z,1758326494.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336685 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:34.738Z,1758326494.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498309
2025-09-20T00:01:34.989Z,1758326494.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749658
2025-09-20T00:01:35.154Z,1758326495.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:35.157Z,1758326495.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 178.131332 m,
      bearing: 261.632378 deg,
      approach rate: -0.509753 m/s,
      LOS rate: -0.014189 deg/s,
      cmd heading: 248.473731 deg,
      new cmd heading: 248.460208 deg.

2025-09-20T00:01:35.157Z,1758326495.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336449 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:35.242Z,1758326495.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002353
2025-09-20T00:01:35.493Z,1758326495.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253714
2025-09-20T00:01:35.521Z,1758326495.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:35.523Z,1758326495.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 177.951294 m,
      bearing: 261.627362 deg,
      approach rate: -0.490330 m/s,
      LOS rate: -0.013675 deg/s,
      cmd heading: 248.460207 deg,
      new cmd heading: 248.450164 deg.

2025-09-20T00:01:35.525Z,1758326495.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336273 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:35.746Z,1758326495.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506926
2025-09-20T00:01:35.915Z,1758326495.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:35.942Z,1758326495.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 177.753128 m,
      bearing: 261.621874 deg,
      approach rate: -0.503833 m/s,
      LOS rate: -0.013967 deg/s,
      cmd heading: 248.450153 deg,
      new cmd heading: 248.439166 deg.

2025-09-20T00:01:35.943Z,1758326495.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336082 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:36.001Z,1758326496.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761045
2025-09-20T00:01:36.249Z,1758326496.249 [DAT](INFO): DAT read: Rx Time:00:01:37.1562

2025-09-20T00:01:36.249Z,1758326496.249 [DAT](INFO): Rx dataTimestamp_ set to:1758326496.249065
2025-09-20T00:01:36.250Z,1758326496.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010669
2025-09-20T00:01:36.342Z,1758326496.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:36.349Z,1758326496.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 177.524277 m,
      bearing: 261.613826 deg,
      approach rate: -0.534205 m/s,
      LOS rate: -0.018810 deg/s,
      cmd heading: 248.439170 deg,
      new cmd heading: 248.423053 deg.

2025-09-20T00:01:36.350Z,1758326496.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335800 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:36.501Z,1758326496.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261676
2025-09-20T00:01:36.690Z,1758326496.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:36.693Z,1758326496.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.62 m.
2025-09-20T00:01:36.698Z,1758326496.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.620422 m,
      nav range: 177.338760 m,
      bearing: 261.607352 deg,
      approach rate: -0.529794 m/s,
      LOS rate: -0.018510 deg/s,
      cmd heading: 248.423051 deg,
      new cmd heading: 248.410088 deg.

2025-09-20T00:01:36.699Z,1758326496.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335574 target range: 181.620422 and range: 182.10 m.
2025-09-20T00:01:36.771Z,1758326496.771 [DAT](INFO): DAT read: 00:01:37.1562 LVL= 28656, 32753, 32146, 32755, AGC= 69, IDX= 411,-0.39, 1.051,-0.848, 0.716, 0.652, PHS= 0.502,-1.454, 0.020, RAW= 136.3,  10.6, CAL= 135.9,  11.6, ROT=  14.1, -11.6

2025-09-20T00:01:36.772Z,1758326496.772 [DAT](INFO): got valid direction response:
 00:01:37.1562 LVL= 28656, 32753, 32146, 32755, AGC= 69, IDX= 411,-0.39, 1.051,-0.848, 0.716, 0.652, PHS= 0.502,-1.454, 0.020, RAW= 136.3,  10.6, CAL= 135.9,  11.6, ROT=  14.1, -11.6

2025-09-20T00:01:36.773Z,1758326496.773 [DAT](INFO): DAT read: Bearing  39.0,  12.1 (Local)

2025-09-20T00:01:36.774Z,1758326496.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.0,  12.1 (Local)

2025-09-20T00:01:36.775Z,1758326496.775 [DAT](INFO): DAT read: Range 11 to 50 : 180.3 m  (Round-trip  240.4 ms) speed  0.7 m/s

2025-09-20T00:01:36.776Z,1758326496.776 [DAT](INFO): DAT read: user:664>

2025-09-20T00:01:36.777Z,1758326496.777 [DAT](INFO): DAT read: Tx time:00:01:38.2616

2025-09-20T00:01:36.777Z,1758326496.777 [DAT](INFO): Ping request sent.
2025-09-20T00:01:36.777Z,1758326496.777 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:36.777Z,1758326496.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:36.778Z,1758326496.778 [DAT](INFO): direction in FSK: [0.950063,0.238639,0.201078]
2025-09-20T00:01:36.778Z,1758326496.778 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:36.779Z,1758326496.779 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:36.810Z,1758326496.810 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:36.810Z,1758326496.810 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:37.166Z,1758326497.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 180.300003 m,
      deltaT: 3.529840 s,
      deltaX: -1.800003 m,
      approachRate: -0.509939 m/s,
      rangeRepo size: 4

2025-09-20T00:01:37.185Z,1758326497.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 179.825287 m,
      bearing: 262.923094 deg,
      lat: 36.779504 deg,
      lon: -121.859712 deg,
      deltaT: 3.529840 s,
      deltaX: -1.795135 m,
      approachRate: -0.508560 m/s,
      posRepo size: 4

2025-09-20T00:01:37.185Z,1758326497.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:37.192Z,1758326497.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 176.677353 m,
      bearing: 262.581800 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018510 deg/s,
      cmd heading: 248.410101 deg,
      new cmd heading: 248.392584 deg.

2025-09-20T00:01:37.197Z,1758326497.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335268 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:37.502Z,1758326497.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:37.505Z,1758326497.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 176.503403 m,
      bearing: 262.577939 deg,
      approach rate: -0.516657 m/s,
      LOS rate: -0.011481 deg/s,
      cmd heading: 248.392588 deg,
      new cmd heading: 248.384857 deg.

2025-09-20T00:01:37.506Z,1758326497.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335134 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:37.951Z,1758326497.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:37.954Z,1758326497.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 176.282150 m,
      bearing: 262.573037 deg,
      approach rate: -0.493021 m/s,
      LOS rate: -0.010936 deg/s,
      cmd heading: 248.384856 deg,
      new cmd heading: 248.375040 deg.

2025-09-20T00:01:37.955Z,1758326497.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334962 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:38.337Z,1758326498.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:38.339Z,1758326498.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 176.080505 m,
      bearing: 262.567953 deg,
      approach rate: -0.523323 m/s,
      LOS rate: -0.013210 deg/s,
      cmd heading: 248.375048 deg,
      new cmd heading: 248.364868 deg.

2025-09-20T00:01:38.340Z,1758326498.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334785 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:38.712Z,1758326498.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:38.714Z,1758326498.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:38.717Z,1758326498.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 175.891418 m,
      bearing: 262.563205 deg,
      approach rate: -0.500841 m/s,
      LOS rate: -0.012590 deg/s,
      cmd heading: 248.364857 deg,
      new cmd heading: 248.355351 deg.

2025-09-20T00:01:38.718Z,1758326498.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334619 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:38.770Z,1758326498.770 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:38.770Z,1758326498.770 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:38.771Z,1758326498.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:39.021Z,1758326499.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243821
2025-09-20T00:01:39.180Z,1758326499.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:39.183Z,1758326499.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 175.665283 m,
      bearing: 262.556159 deg,
      approach rate: -0.485677 m/s,
      LOS rate: -0.015151 deg/s,
      cmd heading: 248.355350 deg,
      new cmd heading: 248.341241 deg.

2025-09-20T00:01:39.184Z,1758326499.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334373 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:39.274Z,1758326499.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496959
2025-09-20T00:01:39.525Z,1758326499.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747991
2025-09-20T00:01:39.546Z,1758326499.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:39.553Z,1758326499.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 175.496307 m,
      bearing: 262.550899 deg,
      approach rate: -0.461292 m/s,
      LOS rate: -0.014373 deg/s,
      cmd heading: 248.341252 deg,
      new cmd heading: 248.330722 deg.

2025-09-20T00:01:39.554Z,1758326499.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334189 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:39.777Z,1758326499.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999888
2025-09-20T00:01:39.942Z,1758326499.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:39.945Z,1758326499.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 175.295822 m,
      bearing: 262.544675 deg,
      approach rate: -0.506446 m/s,
      LOS rate: -0.015742 deg/s,
      cmd heading: 248.330734 deg,
      new cmd heading: 248.318270 deg.

2025-09-20T00:01:39.946Z,1758326499.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333972 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:40.029Z,1758326500.029 [DAT](INFO): DAT read: Rx Time:00:01:40.9037

2025-09-20T00:01:40.029Z,1758326500.029 [DAT](INFO): Rx dataTimestamp_ set to:1758326500.029198
2025-09-20T00:01:40.030Z,1758326500.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253022
2025-09-20T00:01:40.281Z,1758326500.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503955
2025-09-20T00:01:40.371Z,1758326500.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.83 m.
2025-09-20T00:01:40.374Z,1758326500.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.825287 m,
      nav range: 175.087112 m,
      bearing: 262.539450 deg,
      approach rate: -0.486350 m/s,
      LOS rate: -0.012190 deg/s,
      cmd heading: 248.318276 deg,
      new cmd heading: 248.307813 deg.

2025-09-20T00:01:40.375Z,1758326500.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333789 target range: 179.825287 and range: 180.30 m.
2025-09-20T00:01:40.539Z,1758326500.539 [DAT](INFO): DAT read: 00:01:40.9037 LVL= 31184, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.12,-0.244,-2.217,-0.629,-0.646, PHS= 0.504,-1.525,-0.026, RAW= 135.4,  11.5, CAL= 134.9,  12.6, ROT=  15.1, -12.6

2025-09-20T00:01:40.540Z,1758326500.540 [DAT](INFO): got valid direction response:
 00:01:40.9037 LVL= 31184, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.12,-0.244,-2.217,-0.629,-0.646, PHS= 0.504,-1.525,-0.026, RAW= 135.4,  11.5, CAL= 134.9,  12.6, ROT=  15.1, -12.6

2025-09-20T00:01:40.541Z,1758326500.541 [DAT](INFO): DAT read: Bearing  39.7,  12.9 (Local)

2025-09-20T00:01:40.541Z,1758326500.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.7,  12.9 (Local)

2025-09-20T00:01:40.543Z,1758326500.543 [DAT](INFO): DAT read: Range 11 to 50 : 178.4 m  (Round-trip  237.9 ms) speed  0.4 m/s

2025-09-20T00:01:40.543Z,1758326500.543 [DAT](INFO): DAT read: user:665>

2025-09-20T00:01:40.545Z,1758326500.545 [DAT](INFO): DAT read: Tx time:00:01:42.0116

2025-09-20T00:01:40.545Z,1758326500.545 [DAT](INFO): Ping request sent.
2025-09-20T00:01:40.545Z,1758326500.545 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:40.546Z,1758326500.546 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:40.547Z,1758326500.547 [DAT](INFO): direction in FSK: [0.942221,0.254231,0.218143]
2025-09-20T00:01:40.547Z,1758326500.547 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:40.547Z,1758326500.547 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:40.558Z,1758326500.558 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:40.559Z,1758326500.559 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:40.756Z,1758326500.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 178.399994 m,
      deltaT: 3.778170 s,
      deltaX: -1.900009 m,
      approachRate: -0.502891 m/s,
      rangeRepo size: 4

2025-09-20T00:01:40.759Z,1758326500.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.930099 m,
      bearing: 263.729488 deg,
      lat: 36.779513 deg,
      lon: -121.859713 deg,
      deltaT: 3.778170 s,
      deltaX: -1.895187 m,
      approachRate: -0.501615 m/s,
      posRepo size: 4

2025-09-20T00:01:40.760Z,1758326500.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:40.778Z,1758326500.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 174.853760 m,
      bearing: 262.860444 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012190 deg/s,
      cmd heading: 248.307812 deg,
      new cmd heading: 248.298453 deg.

2025-09-20T00:01:40.779Z,1758326500.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333625 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:41.208Z,1758326501.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:41.210Z,1758326501.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:41.213Z,1758326501.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 174.618774 m,
      bearing: 262.856196 deg,
      approach rate: -0.516020 m/s,
      LOS rate: -0.009340 deg/s,
      cmd heading: 248.298441 deg,
      new cmd heading: 248.289934 deg.

2025-09-20T00:01:41.214Z,1758326501.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333477 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:41.289Z,1758326501.289 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:41.289Z,1758326501.289 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:41.289Z,1758326501.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:41.541Z,1758326501.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995643
2025-09-20T00:01:41.544Z,1758326501.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:41.547Z,1758326501.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 174.451172 m,
      bearing: 262.853161 deg,
      approach rate: -0.501487 m/s,
      LOS rate: -0.009090 deg/s,
      cmd heading: 248.289944 deg,
      new cmd heading: 248.283868 deg.

2025-09-20T00:01:41.548Z,1758326501.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333371 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:41.793Z,1758326501.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247985
2025-09-20T00:01:41.944Z,1758326501.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:41.947Z,1758326501.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 174.249313 m,
      bearing: 262.849508 deg,
      approach rate: -0.505439 m/s,
      LOS rate: -0.009159 deg/s,
      cmd heading: 248.283879 deg,
      new cmd heading: 248.276563 deg.

2025-09-20T00:01:41.948Z,1758326501.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333243 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:42.045Z,1758326502.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499582
2025-09-20T00:01:42.297Z,1758326502.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751473
2025-09-20T00:01:42.399Z,1758326502.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:42.413Z,1758326502.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 174.032990 m,
      bearing: 262.845841 deg,
      approach rate: -0.476181 m/s,
      LOS rate: -0.008082 deg/s,
      cmd heading: 248.276557 deg,
      new cmd heading: 248.269213 deg.

2025-09-20T00:01:42.414Z,1758326502.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333115 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:42.549Z,1758326502.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003551
2025-09-20T00:01:42.777Z,1758326502.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:42.779Z,1758326502.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 173.841248 m,
      bearing: 262.842602 deg,
      approach rate: -0.506398 m/s,
      LOS rate: -0.008562 deg/s,
      cmd heading: 248.269207 deg,
      new cmd heading: 248.262723 deg.

2025-09-20T00:01:42.781Z,1758326502.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333002 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:42.801Z,1758326502.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255601
2025-09-20T00:01:43.053Z,1758326503.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507808
2025-09-20T00:01:43.214Z,1758326503.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:43.220Z,1758326503.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:43.223Z,1758326503.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 173.619003 m,
      bearing: 262.838868 deg,
      approach rate: -0.506324 m/s,
      LOS rate: -0.008519 deg/s,
      cmd heading: 248.262732 deg,
      new cmd heading: 248.255254 deg.

2025-09-20T00:01:43.223Z,1758326503.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332871 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:43.306Z,1758326503.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760304
2025-09-20T00:01:43.557Z,1758326503.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011638
2025-09-20T00:01:43.672Z,1758326503.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:43.675Z,1758326503.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 173.392166 m,
      bearing: 262.834897 deg,
      approach rate: -0.497013 m/s,
      LOS rate: -0.008712 deg/s,
      cmd heading: 248.255247 deg,
      new cmd heading: 248.247295 deg.

2025-09-20T00:01:43.676Z,1758326503.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332733 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:43.809Z,1758326503.809 [DAT](INFO): DAT read: Rx Time:00:01:44.6512

2025-09-20T00:01:43.809Z,1758326503.809 [DAT](INFO): Rx dataTimestamp_ set to:1758326503.809032
2025-09-20T00:01:43.810Z,1758326503.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264540
2025-09-20T00:01:44.008Z,1758326504.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.93 m.
2025-09-20T00:01:44.014Z,1758326504.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.930099 m,
      nav range: 173.231903 m,
      bearing: 262.832082 deg,
      approach rate: -0.477817 m/s,
      LOS rate: -0.008400 deg/s,
      cmd heading: 248.247296 deg,
      new cmd heading: 248.241661 deg.

2025-09-20T00:01:44.015Z,1758326504.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332634 target range: 177.930099 and range: 178.40 m.
2025-09-20T00:01:44.062Z,1758326504.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516922
2025-09-20T00:01:44.323Z,1758326504.323 [DAT](INFO): DAT read: 00:01:44.6512 LVL= 30192, 32753, 32754, 32755, AGC= 73, IDX= 424,-0.10, 0.410,-1.622, 0.072, 0.074, PHS= 0.438,-1.650,-0.046, RAW= 137.2,  13.2, CAL= 136.5,  14.3, ROT=  13.5, -14.3

2025-09-20T00:01:44.325Z,1758326504.325 [DAT](INFO): got valid direction response:
 00:01:44.6512 LVL= 30192, 32753, 32754, 32755, AGC= 73, IDX= 424,-0.10, 0.410,-1.622, 0.072, 0.074, PHS= 0.438,-1.650,-0.046, RAW= 137.2,  13.2, CAL= 136.5,  14.3, ROT=  13.5, -14.3

2025-09-20T00:01:44.326Z,1758326504.326 [DAT](INFO): DAT read: Bearing  41.1,  11.1 (Local)

2025-09-20T00:01:44.326Z,1758326504.326 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.1,  11.1 (Local)

2025-09-20T00:01:44.327Z,1758326504.327 [DAT](INFO): DAT read: Range 11 to 50 : 176.6 m  (Round-trip  235.5 ms) speed  0.4 m/s

2025-09-20T00:01:44.328Z,1758326504.328 [DAT](INFO): DAT read: user:666>

2025-09-20T00:01:44.329Z,1758326504.329 [DAT](INFO): DAT read: Tx time:00:01:45.7616

2025-09-20T00:01:44.329Z,1758326504.329 [DAT](INFO): Ping request sent.
2025-09-20T00:01:44.329Z,1758326504.329 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:44.330Z,1758326504.330 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:01:44.330Z,1758326504.330 [DAT](INFO): direction in FSK: [0.942242,0.226212,0.246999]
2025-09-20T00:01:44.331Z,1758326504.331 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:44.331Z,1758326504.331 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:44.334Z,1758326504.334 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:44.335Z,1758326504.335 [DAT](INFO): publishing direction and range info
2025-09-20T00:01:44.514Z,1758326504.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 176.600006 m,
      deltaT: 3.779977 s,
      deltaX: -1.799988 m,
      approachRate: -0.476190 m/s,
      rangeRepo size: 4

2025-09-20T00:01:44.520Z,1758326504.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.134857 m,
      bearing: 262.031700 deg,
      lat: 36.779513 deg,
      lon: -121.859713 deg,
      deltaT: 3.779977 s,
      deltaX: -1.795242 m,
      approachRate: -0.474935 m/s,
      posRepo size: 4

2025-09-20T00:01:44.521Z,1758326504.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:44.524Z,1758326504.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 172.983826 m,
      bearing: 262.826983 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008400 deg/s,
      cmd heading: 248.241668 deg,
      new cmd heading: 248.233171 deg.

2025-09-20T00:01:44.529Z,1758326504.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332486 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:44.793Z,1758326504.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:44.795Z,1758326504.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 172.832626 m,
      bearing: 262.823875 deg,
      approach rate: -0.541529 m/s,
      LOS rate: -0.011140 deg/s,
      cmd heading: 248.233171 deg,
      new cmd heading: 248.226951 deg.

2025-09-20T00:01:44.796Z,1758326504.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332377 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:45.274Z,1758326505.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:45.276Z,1758326505.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:45.279Z,1758326505.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 172.587097 m,
      bearing: 262.819338 deg,
      approach rate: -0.507679 m/s,
      LOS rate: -0.009394 deg/s,
      cmd heading: 248.226942 deg,
      new cmd heading: 248.217856 deg.

2025-09-20T00:01:45.280Z,1758326505.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332219 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:45.321Z,1758326505.321 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:45.321Z,1758326505.321 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:45.321Z,1758326505.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:45.573Z,1758326505.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243693
2025-09-20T00:01:45.612Z,1758326505.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:45.615Z,1758326505.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 172.415512 m,
      bearing: 262.816180 deg,
      approach rate: -0.511018 m/s,
      LOS rate: -0.009416 deg/s,
      cmd heading: 248.217844 deg,
      new cmd heading: 248.211521 deg.

2025-09-20T00:01:45.616Z,1758326505.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332108 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:45.825Z,1758326505.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496157
2025-09-20T00:01:46.002Z,1758326506.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:46.004Z,1758326506.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 172.217178 m,
      bearing: 262.812542 deg,
      approach rate: -0.509022 m/s,
      LOS rate: -0.009347 deg/s,
      cmd heading: 248.211533 deg,
      new cmd heading: 248.204250 deg.

2025-09-20T00:01:46.005Z,1758326506.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331981 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:46.078Z,1758326506.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748395
2025-09-20T00:01:46.274Z,1758326506.274 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:01:46.329Z,1758326506.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999585
2025-09-20T00:01:46.460Z,1758326506.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:46.463Z,1758326506.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 171.994461 m,
      bearing: 262.808408 deg,
      approach rate: -0.490068 m/s,
      LOS rate: -0.009110 deg/s,
      cmd heading: 248.204239 deg,
      new cmd heading: 248.195958 deg.

2025-09-20T00:01:46.473Z,1758326506.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331837 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:46.581Z,1758326506.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251601
2025-09-20T00:01:46.828Z,1758326506.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:46.831Z,1758326506.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 171.800690 m,
      bearing: 262.804845 deg,
      approach rate: -0.520282 m/s,
      LOS rate: -0.009578 deg/s,
      cmd heading: 248.195960 deg,
      new cmd heading: 248.188826 deg.

2025-09-20T00:01:46.849Z,1758326506.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519223
2025-09-20T00:01:46.893Z,1758326506.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331712 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:47.105Z,1758326507.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775424
2025-09-20T00:01:47.276Z,1758326507.276 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:01:47.321Z,1758326507.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:47.323Z,1758326507.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:47.330Z,1758326507.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 171.557663 m,
      bearing: 262.800235 deg,
      approach rate: -0.491690 m/s,
      LOS rate: -0.009340 deg/s,
      cmd heading: 248.188830 deg,
      new cmd heading: 248.179597 deg.

2025-09-20T00:01:47.331Z,1758326507.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331551 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:47.353Z,1758326507.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023609
2025-09-20T00:01:47.607Z,1758326507.607 [DAT](INFO): DAT read: Rx Time:00:01:48.3986

2025-09-20T00:01:47.607Z,1758326507.607 [DAT](INFO): Rx dataTimestamp_ set to:1758326507.606998
2025-09-20T00:01:47.608Z,1758326507.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278990
2025-09-20T00:01:47.747Z,1758326507.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:47.751Z,1758326507.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 171.336075 m,
      bearing: 262.796027 deg,
      approach rate: -0.522860 m/s,
      LOS rate: -0.009940 deg/s,
      cmd heading: 248.179595 deg,
      new cmd heading: 248.171170 deg.

2025-09-20T00:01:47.753Z,1758326507.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331404 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:47.857Z,1758326507.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527616
2025-09-20T00:01:48.074Z,1758326508.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:48.077Z,1758326508.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 171.167847 m,
      bearing: 262.792826 deg,
      approach rate: -0.513831 m/s,
      LOS rate: -0.009789 deg/s,
      cmd heading: 248.171181 deg,
      new cmd heading: 248.164770 deg.

2025-09-20T00:01:48.078Z,1758326508.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331292 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:48.115Z,1758326508.115 [DAT](INFO): DAT read: 00:01:48.3986 LVL= 32096, 32753, 32754, 32755, AGC= 62, IDX= 413, 0.43, 1.771,-0.168, 1.445, 1.377, PHS= 0.497,-1.499, 0.025, RAW= 136.9,  10.8, CAL= 136.4,  11.9, ROT=  13.6, -11.9

2025-09-20T00:01:48.116Z,1758326508.116 [DAT](INFO): got valid direction response:
 00:01:48.3986 LVL= 32096, 32753, 32754, 32755, AGC= 62, IDX= 413, 0.43, 1.771,-0.168, 1.445, 1.377, PHS= 0.497,-1.499, 0.025, RAW= 136.9,  10.8, CAL= 136.4,  11.9, ROT=  13.6, -11.9

2025-09-20T00:01:48.117Z,1758326508.117 [DAT](INFO): DAT read: $Error in header

2025-09-20T00:01:48.117Z,1758326508.117 [DAT](INFO): Received a bad header
2025-09-20T00:01:48.128Z,1758326508.128 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-20T00:01:48.129Z,1758326508.129 [DAT](INFO): direction in FSK: [0.951073,0.230089,0.206204]
2025-09-20T00:01:48.132Z,1758326508.132 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:48.132Z,1758326508.132 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:48.132Z,1758326508.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:48.361Z,1758326508.361 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:48.361Z,1758326508.361 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:48.361Z,1758326508.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:48.530Z,1758326508.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:48.559Z,1758326508.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 170.929169 m,
      bearing: 262.789471 deg,
      approach rate: -0.527287 m/s,
      LOS rate: -0.007421 deg/s,
      cmd heading: 248.164760 deg,
      new cmd heading: 248.158042 deg.

2025-09-20T00:01:48.560Z,1758326508.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331175 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:48.614Z,1758326508.614 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:48.614Z,1758326508.614 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:48.614Z,1758326508.614 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:48.865Z,1758326508.865 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:48.865Z,1758326508.865 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:48.865Z,1758326508.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:48.935Z,1758326508.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:48.942Z,1758326508.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 170.712479 m,
      bearing: 262.786439 deg,
      approach rate: -0.529969 m/s,
      LOS rate: -0.007425 deg/s,
      cmd heading: 248.158039 deg,
      new cmd heading: 248.151968 deg.

2025-09-20T00:01:48.943Z,1758326508.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331069 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:49.117Z,1758326509.117 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:49.117Z,1758326509.117 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:49.117Z,1758326509.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:49.333Z,1758326509.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:49.335Z,1758326509.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:49.338Z,1758326509.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 170.503983 m,
      bearing: 262.782082 deg,
      approach rate: -0.521979 m/s,
      LOS rate: -0.010921 deg/s,
      cmd heading: 248.151974 deg,
      new cmd heading: 248.143249 deg.

2025-09-20T00:01:49.339Z,1758326509.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330917 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:49.370Z,1758326509.370 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:49.371Z,1758326509.371 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:49.371Z,1758326509.371 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:49.621Z,1758326509.621 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:49.621Z,1758326509.621 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:49.621Z,1758326509.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:49.698Z,1758326509.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:49.701Z,1758326509.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 170.317871 m,
      bearing: 262.778184 deg,
      approach rate: -0.513172 m/s,
      LOS rate: -0.010760 deg/s,
      cmd heading: 248.143259 deg,
      new cmd heading: 248.135454 deg.

2025-09-20T00:01:49.702Z,1758326509.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330781 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:49.874Z,1758326509.874 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:49.875Z,1758326509.875 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:49.875Z,1758326509.875 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:50.088Z,1758326510.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:50.091Z,1758326510.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 170.117981 m,
      bearing: 262.774027 deg,
      approach rate: -0.511978 m/s,
      LOS rate: -0.010661 deg/s,
      cmd heading: 248.135445 deg,
      new cmd heading: 248.127120 deg.

2025-09-20T00:01:50.092Z,1758326510.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330635 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:50.127Z,1758326510.127 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:50.127Z,1758326510.127 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:50.127Z,1758326510.127 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:50.377Z,1758326510.377 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:50.378Z,1758326510.378 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:50.378Z,1758326510.378 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:50.518Z,1758326510.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:50.521Z,1758326510.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 169.896744 m,
      bearing: 262.770853 deg,
      approach rate: -0.514082 m/s,
      LOS rate: -0.007384 deg/s,
      cmd heading: 248.127112 deg,
      new cmd heading: 248.120757 deg.

2025-09-20T00:01:50.522Z,1758326510.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330524 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:50.629Z,1758326510.629 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:50.629Z,1758326510.629 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:50.630Z,1758326510.630 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:50.881Z,1758326510.881 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:50.881Z,1758326510.881 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:50.881Z,1758326510.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:50.942Z,1758326510.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:50.949Z,1758326510.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 169.693420 m,
      bearing: 262.767936 deg,
      approach rate: -0.480105 m/s,
      LOS rate: -0.006897 deg/s,
      cmd heading: 248.120746 deg,
      new cmd heading: 248.114904 deg.

2025-09-20T00:01:50.950Z,1758326510.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330422 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:51.133Z,1758326511.133 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:51.133Z,1758326511.133 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:51.133Z,1758326511.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:51.357Z,1758326511.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:51.359Z,1758326511.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:51.362Z,1758326511.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 169.458771 m,
      bearing: 262.762726 deg,
      approach rate: -0.562466 m/s,
      LOS rate: -0.012506 deg/s,
      cmd heading: 248.114900 deg,
      new cmd heading: 248.104465 deg.

2025-09-20T00:01:51.364Z,1758326511.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330240 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:51.401Z,1758326511.401 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:51.401Z,1758326511.401 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:51.401Z,1758326511.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:51.653Z,1758326511.653 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:51.653Z,1758326511.653 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:51.653Z,1758326511.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:51.758Z,1758326511.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:51.761Z,1758326511.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 169.250015 m,
      bearing: 262.758091 deg,
      approach rate: -0.522576 m/s,
      LOS rate: -0.011615 deg/s,
      cmd heading: 248.104463 deg,
      new cmd heading: 248.095183 deg.

2025-09-20T00:01:51.762Z,1758326511.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330078 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:51.905Z,1758326511.905 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:51.905Z,1758326511.905 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:51.905Z,1758326511.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:52.155Z,1758326512.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:52.157Z,1758326512.157 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:52.157Z,1758326512.157 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:52.157Z,1758326512.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:52.160Z,1758326512.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 169.038269 m,
      bearing: 262.753414 deg,
      approach rate: -0.533647 m/s,
      LOS rate: -0.011802 deg/s,
      cmd heading: 248.095174 deg,
      new cmd heading: 248.085809 deg.

2025-09-20T00:01:52.161Z,1758326512.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329914 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:52.409Z,1758326512.409 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:52.409Z,1758326512.409 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:52.409Z,1758326512.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:52.578Z,1758326512.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:52.581Z,1758326512.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 168.823715 m,
      bearing: 262.747868 deg,
      approach rate: -0.507137 m/s,
      LOS rate: -0.013127 deg/s,
      cmd heading: 248.085803 deg,
      new cmd heading: 248.074696 deg.

2025-09-20T00:01:52.582Z,1758326512.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329720 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:52.661Z,1758326512.661 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:52.661Z,1758326512.661 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:52.661Z,1758326512.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:52.913Z,1758326512.913 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:52.913Z,1758326512.913 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:52.913Z,1758326512.913 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:52.984Z,1758326512.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:52.987Z,1758326512.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 168.617859 m,
      bearing: 262.742533 deg,
      approach rate: -0.507529 m/s,
      LOS rate: -0.013169 deg/s,
      cmd heading: 248.074684 deg,
      new cmd heading: 248.064000 deg.

2025-09-20T00:01:52.988Z,1758326512.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329534 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:53.165Z,1758326513.165 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:53.165Z,1758326513.165 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:53.165Z,1758326513.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:53.417Z,1758326513.417 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:53.417Z,1758326513.417 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:53.417Z,1758326513.417 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:53.419Z,1758326513.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:53.421Z,1758326513.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:53.424Z,1758326513.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 168.397675 m,
      bearing: 262.738345 deg,
      approach rate: -0.503415 m/s,
      LOS rate: -0.009587 deg/s,
      cmd heading: 248.064001 deg,
      new cmd heading: 248.055615 deg.

2025-09-20T00:01:53.425Z,1758326513.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329387 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:53.669Z,1758326513.669 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:53.669Z,1758326513.669 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:53.669Z,1758326513.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:53.790Z,1758326513.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:53.799Z,1758326513.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 168.215347 m,
      bearing: 262.734896 deg,
      approach rate: -0.495128 m/s,
      LOS rate: -0.009376 deg/s,
      cmd heading: 248.055614 deg,
      new cmd heading: 248.048709 deg.

2025-09-20T00:01:53.800Z,1758326513.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329267 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:53.921Z,1758326513.921 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:53.921Z,1758326513.921 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:53.921Z,1758326513.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:54.169Z,1758326514.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:54.171Z,1758326514.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 168.013855 m,
      bearing: 262.731108 deg,
      approach rate: -0.531489 m/s,
      LOS rate: -0.010003 deg/s,
      cmd heading: 248.048702 deg,
      new cmd heading: 248.041117 deg.

2025-09-20T00:01:54.173Z,1758326514.173 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:01:54.173Z,1758326514.173 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:01:54.173Z,1758326514.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T00:01:54.174Z,1758326514.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329134 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:54.425Z,1758326514.425 [DAT](INFO): Reached modem response timeout
2025-09-20T00:01:54.425Z,1758326514.425 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:54.425Z,1758326514.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:54.604Z,1758326514.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:54.607Z,1758326514.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 167.794205 m,
      bearing: 262.725724 deg,
      approach rate: -0.504805 m/s,
      LOS rate: -0.012390 deg/s,
      cmd heading: 248.041106 deg,
      new cmd heading: 248.030324 deg.

2025-09-20T00:01:54.608Z,1758326514.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328946 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:54.678Z,1758326514.678 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:54.929Z,1758326514.929 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:54.987Z,1758326514.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:54.990Z,1758326514.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 167.599823 m,
      bearing: 262.720942 deg,
      approach rate: -0.506774 m/s,
      LOS rate: -0.012483 deg/s,
      cmd heading: 248.030315 deg,
      new cmd heading: 248.020739 deg.

2025-09-20T00:01:54.991Z,1758326514.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328778 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:55.181Z,1758326515.181 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:55.433Z,1758326515.433 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:55.450Z,1758326515.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:55.457Z,1758326515.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:55.462Z,1758326515.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 167.386642 m,
      bearing: 262.715978 deg,
      approach rate: -0.454288 m/s,
      LOS rate: -0.010591 deg/s,
      cmd heading: 248.020725 deg,
      new cmd heading: 248.010785 deg.

2025-09-20T00:01:55.463Z,1758326515.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328605 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:55.467Z,1758326515.467 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-09-19T23:51:55.1Z
2025-09-20T00:01:55.467Z,1758326515.467 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-09-20T00:01:55.468Z,1758326515.468 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-09-20T00:01:55.468Z,1758326515.468 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-09-20T00:01:55.472Z,1758326515.472 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-20T00:01:55.472Z,1758326515.472 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-09-20T00:01:55.686Z,1758326515.686 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:55.822Z,1758326515.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:55.825Z,1758326515.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 167.202454 m,
      bearing: 262.711679 deg,
      approach rate: -0.504562 m/s,
      LOS rate: -0.011789 deg/s,
      cmd heading: 248.010780 deg,
      new cmd heading: 248.002173 deg.

2025-09-20T00:01:55.825Z,1758326515.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328454 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:55.829Z,1758326515.829 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-09-20T00:01:55.830Z,1758326515.830 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-09-20T00:01:55.830Z,1758326515.830 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-09-20T00:01:55.830Z,1758326515.830 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-20T00:01:55.830Z,1758326515.830 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-09-20T00:01:55.937Z,1758326515.937 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:56.189Z,1758326516.189 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:56.294Z,1758326516.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:56.302Z,1758326516.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 166.975128 m,
      bearing: 262.706321 deg,
      approach rate: -0.481706 m/s,
      LOS rate: -0.011370 deg/s,
      cmd heading: 248.002174 deg,
      new cmd heading: 247.991443 deg.

2025-09-20T00:01:56.303Z,1758326516.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328267 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:56.441Z,1758326516.441 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:56.693Z,1758326516.693 [DAT](INFO): DAT read: Response Not Received

2025-09-20T00:01:56.693Z,1758326516.693 [DAT](INFO): response not received
2025-09-20T00:01:56.694Z,1758326516.694 [DAT](INFO): DAT read: user:668>

2025-09-20T00:01:56.694Z,1758326516.694 [DAT](ERROR): No response from remote modem.
2025-09-20T00:01:56.694Z,1758326516.694 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:01:56.694Z,1758326516.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:01:56.740Z,1758326516.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:56.753Z,1758326516.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 166.765198 m,
      bearing: 262.702496 deg,
      approach rate: -0.474997 m/s,
      LOS rate: -0.008665 deg/s,
      cmd heading: 247.991437 deg,
      new cmd heading: 247.983778 deg.

2025-09-20T00:01:56.754Z,1758326516.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328134 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:56.945Z,1758326516.945 [DAT](INFO): DAT read: Tx time:00:01:58.2131

2025-09-20T00:01:56.945Z,1758326516.945 [DAT](INFO): Ping request sent.
2025-09-20T00:01:56.945Z,1758326516.945 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:01:56.946Z,1758326516.946 [DAT](INFO): publishing transmit ping time
2025-09-20T00:01:56.946Z,1758326516.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-09-20T00:01:57.138Z,1758326517.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:57.141Z,1758326517.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 166.554794 m,
      bearing: 262.698651 deg,
      approach rate: -0.522283 m/s,
      LOS rate: -0.009556 deg/s,
      cmd heading: 247.983787 deg,
      new cmd heading: 247.976089 deg.

2025-09-20T00:01:57.142Z,1758326517.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327999 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:57.198Z,1758326517.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252553
2025-09-20T00:01:57.451Z,1758326517.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505690
2025-09-20T00:01:57.546Z,1758326517.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:57.548Z,1758326517.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:57.550Z,1758326517.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 166.345551 m,
      bearing: 262.694862 deg,
      approach rate: -0.511358 m/s,
      LOS rate: -0.009273 deg/s,
      cmd heading: 247.976083 deg,
      new cmd heading: 247.968494 deg.

2025-09-20T00:01:57.551Z,1758326517.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327867 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:57.701Z,1758326517.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755461
2025-09-20T00:01:57.920Z,1758326517.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:57.923Z,1758326517.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 166.154663 m,
      bearing: 262.691368 deg,
      approach rate: -0.512752 m/s,
      LOS rate: -0.009394 deg/s,
      cmd heading: 247.968488 deg,
      new cmd heading: 247.961493 deg.

2025-09-20T00:01:57.924Z,1758326517.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327744 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:57.953Z,1758326517.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007647
2025-09-20T00:01:58.205Z,1758326518.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259745
2025-09-20T00:01:58.298Z,1758326518.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:58.317Z,1758326518.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 165.961288 m,
      bearing: 262.687819 deg,
      approach rate: -0.511838 m/s,
      LOS rate: -0.009404 deg/s,
      cmd heading: 247.961494 deg,
      new cmd heading: 247.954388 deg.

2025-09-20T00:01:58.318Z,1758326518.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327621 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:58.458Z,1758326518.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512190
2025-09-20T00:01:58.709Z,1758326518.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763422
2025-09-20T00:01:58.797Z,1758326518.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:58.805Z,1758326518.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 165.718185 m,
      bearing: 262.683387 deg,
      approach rate: -0.486500 m/s,
      LOS rate: -0.008883 deg/s,
      cmd heading: 247.954390 deg,
      new cmd heading: 247.945513 deg.

2025-09-20T00:01:58.806Z,1758326518.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327466 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:58.961Z,1758326518.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015406
2025-09-20T00:01:59.129Z,1758326519.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:59.148Z,1758326519.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 165.543274 m,
      bearing: 262.680191 deg,
      approach rate: -0.526820 m/s,
      LOS rate: -0.009637 deg/s,
      cmd heading: 247.945511 deg,
      new cmd heading: 247.939112 deg.

2025-09-20T00:01:59.149Z,1758326519.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327354 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:59.214Z,1758326519.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268318
2025-09-20T00:01:59.465Z,1758326519.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519402
2025-09-20T00:01:59.555Z,1758326519.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:01:59.557Z,1758326519.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:59.560Z,1758326519.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 165.320969 m,
      bearing: 262.676183 deg,
      approach rate: -0.519570 m/s,
      LOS rate: -0.009380 deg/s,
      cmd heading: 247.939118 deg,
      new cmd heading: 247.931091 deg.

2025-09-20T00:01:59.561Z,1758326519.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327214 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:59.717Z,1758326519.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771541
2025-09-20T00:01:59.953Z,1758326519.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:01:59.955Z,1758326519.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 165.122940 m,
      bearing: 262.672632 deg,
      approach rate: -0.500987 m/s,
      LOS rate: -0.008994 deg/s,
      cmd heading: 247.931086 deg,
      new cmd heading: 247.923975 deg.

2025-09-20T00:01:59.956Z,1758326519.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327090 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:01:59.969Z,1758326519.969 [DAT](INFO): DAT read: Rx Time:00:02:00.8418

2025-09-20T00:01:59.969Z,1758326519.969 [DAT](INFO): Rx dataTimestamp_ set to:1758326519.969215
2025-09-20T00:01:59.970Z,1758326519.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024628
2025-09-20T00:02:00.221Z,1758326520.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275443
2025-09-20T00:02:00.345Z,1758326520.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.13 m.
2025-09-20T00:02:00.350Z,1758326520.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.134857 m,
      nav range: 164.910858 m,
      bearing: 262.668841 deg,
      approach rate: -0.540708 m/s,
      LOS rate: -0.009678 deg/s,
      cmd heading: 247.923982 deg,
      new cmd heading: 247.916390 deg.

2025-09-20T00:02:00.353Z,1758326520.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326957 target range: 176.134857 and range: 176.60 m.
2025-09-20T00:02:00.485Z,1758326520.485 [DAT](INFO): DAT read: 00:02:00.8418 LVL= 31312, 32753, 32754, 32755, AGC= 67, IDX= 344, 0.19, 0.786,-1.184, 0.419, 0.401, PHS= 0.487,-1.540,-0.026, RAW= 135.9,  11.8, CAL= 135.3,  12.9, ROT=  14.7, -12.9

2025-09-20T00:02:00.486Z,1758326520.486 [DAT](INFO): got valid direction response:
 00:02:00.8418 LVL= 31312, 32753, 32754, 32755, AGC= 67, IDX= 344, 0.19, 0.786,-1.184, 0.419, 0.401, PHS= 0.487,-1.540,-0.026, RAW= 135.9,  11.8, CAL= 135.3,  12.9, ROT=  14.7, -12.9

2025-09-20T00:02:00.487Z,1758326520.487 [DAT](INFO): DAT read: Bearing  39.0,  12.4 (Local)

2025-09-20T00:02:00.487Z,1758326520.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.0,  12.4 (Local)

2025-09-20T00:02:00.489Z,1758326520.489 [DAT](INFO): DAT read: Range 11 to 50 : 168.4 m  (Round-trip  224.6 ms) speed  0.3 m/s

2025-09-20T00:02:00.490Z,1758326520.490 [DAT](INFO): DAT read: user:669>

2025-09-20T00:02:00.490Z,1758326520.490 [DAT](INFO): DAT read: Tx time:00:02:01.9616

2025-09-20T00:02:00.491Z,1758326520.491 [DAT](INFO): Ping request sent.
2025-09-20T00:02:00.491Z,1758326520.491 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:00.491Z,1758326520.491 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:00.492Z,1758326520.492 [DAT](INFO): direction in FSK: [0.942855,0.247353,0.223250]
2025-09-20T00:02:00.493Z,1758326520.493 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:00.493Z,1758326520.493 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:00.496Z,1758326520.496 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:00.496Z,1758326520.496 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:00.868Z,1758326520.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.399994 m,
      deltaT: 16.160282 s,
      deltaX: -8.200012 m,
      approachRate: -0.507418 m/s,
      rangeRepo size: 4

2025-09-20T00:02:00.872Z,1758326520.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 167.956055 m,
      bearing: 262.764124 deg,
      lat: 36.779515 deg,
      lon: -121.859714 deg,
      deltaT: 16.160282 s,
      deltaX: -8.178802 m,
      approachRate: -0.506105 m/s,
      posRepo size: 4

2025-09-20T00:02:00.874Z,1758326520.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:00.879Z,1758326520.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 164.757629 m,
      bearing: 262.764682 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009678 deg/s,
      cmd heading: 247.916387 deg,
      new cmd heading: 247.906295 deg.

2025-09-20T00:02:00.880Z,1758326520.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326781 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:01.184Z,1758326521.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:01.187Z,1758326521.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 164.576492 m,
      bearing: 262.761984 deg,
      approach rate: -0.569279 m/s,
      LOS rate: -0.008488 deg/s,
      cmd heading: 247.906306 deg,
      new cmd heading: 247.900904 deg.

2025-09-20T00:02:01.192Z,1758326521.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326687 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:01.606Z,1758326521.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:01.609Z,1758326521.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:01.611Z,1758326521.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 164.337204 m,
      bearing: 262.758080 deg,
      approach rate: -0.563639 m/s,
      LOS rate: -0.009211 deg/s,
      cmd heading: 247.900896 deg,
      new cmd heading: 247.893076 deg.

2025-09-20T00:02:01.613Z,1758326521.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326550 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:01.733Z,1758326521.733 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:01.734Z,1758326521.734 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:01.734Z,1758326521.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:01.985Z,1758326521.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494189
2025-09-20T00:02:02.012Z,1758326522.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:02.015Z,1758326522.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 164.128357 m,
      bearing: 262.754662 deg,
      approach rate: -0.518396 m/s,
      LOS rate: -0.008493 deg/s,
      cmd heading: 247.893083 deg,
      new cmd heading: 247.886240 deg.

2025-09-20T00:02:02.016Z,1758326522.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326431 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:02.237Z,1758326522.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746042
2025-09-20T00:02:02.382Z,1758326522.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:02.385Z,1758326522.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 163.917160 m,
      bearing: 262.751422 deg,
      approach rate: -0.570613 m/s,
      LOS rate: -0.008766 deg/s,
      cmd heading: 247.886252 deg,
      new cmd heading: 247.879763 deg.

2025-09-20T00:02:02.389Z,1758326522.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326318 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:02.489Z,1758326522.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998162
2025-09-20T00:02:02.741Z,1758326522.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250500
2025-09-20T00:02:02.801Z,1758326522.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:02.804Z,1758326522.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 163.685669 m,
      bearing: 262.748258 deg,
      approach rate: -0.551967 m/s,
      LOS rate: -0.007556 deg/s,
      cmd heading: 247.879750 deg,
      new cmd heading: 247.873413 deg.

2025-09-20T00:02:02.805Z,1758326522.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326207 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:02.993Z,1758326522.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502080
2025-09-20T00:02:03.184Z,1758326523.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:03.187Z,1758326523.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 163.475403 m,
      bearing: 262.745406 deg,
      approach rate: -0.549363 m/s,
      LOS rate: -0.007462 deg/s,
      cmd heading: 247.873412 deg,
      new cmd heading: 247.867700 deg.

2025-09-20T00:02:03.188Z,1758326523.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326108 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:03.245Z,1758326523.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754179
2025-09-20T00:02:03.498Z,1758326523.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007358
2025-09-20T00:02:03.637Z,1758326523.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:03.639Z,1758326523.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:03.657Z,1758326523.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 163.239151 m,
      bearing: 262.742602 deg,
      approach rate: -0.519699 m/s,
      LOS rate: -0.006176 deg/s,
      cmd heading: 247.867702 deg,
      new cmd heading: 247.862086 deg.

2025-09-20T00:02:03.661Z,1758326523.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326009 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:03.750Z,1758326523.750 [DAT](INFO): DAT read: Rx Time:00:02:04.5876

2025-09-20T00:02:03.751Z,1758326523.751 [DAT](INFO): Rx dataTimestamp_ set to:1758326523.749948
2025-09-20T00:02:03.751Z,1758326523.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260241
2025-09-20T00:02:04.002Z,1758326524.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511126
2025-09-20T00:02:04.097Z,1758326524.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.96 m.
2025-09-20T00:02:04.099Z,1758326524.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.956055 m,
      nav range: 163.000839 m,
      bearing: 262.739784 deg,
      approach rate: -0.520198 m/s,
      LOS rate: -0.006160 deg/s,
      cmd heading: 247.862074 deg,
      new cmd heading: 247.856430 deg.

2025-09-20T00:02:04.101Z,1758326524.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325911 target range: 167.956055 and range: 168.40 m.
2025-09-20T00:02:04.263Z,1758326524.263 [DAT](INFO): DAT read: 00:02:04.5876 LVL= 28288, 32753, 32386, 32755, AGC= 64, IDX= 414, 0.02,-2.310, 2.090,-2.657,-2.715, PHS= 0.507,-1.433, 0.014, RAW= 135.8,  10.5, CAL= 135.4,  11.5, ROT=  14.6, -11.5

2025-09-20T00:02:04.265Z,1758326524.265 [DAT](INFO): got valid direction response:
 00:02:04.5876 LVL= 28288, 32753, 32386, 32755, AGC= 64, IDX= 414, 0.02,-2.310, 2.090,-2.657,-2.715, PHS= 0.507,-1.433, 0.014, RAW= 135.8,  10.5, CAL= 135.4,  11.5, ROT=  14.6, -11.5

2025-09-20T00:02:04.266Z,1758326524.266 [DAT](INFO): DAT read: Bearing  37.4,  12.5 (Local)

2025-09-20T00:02:04.266Z,1758326524.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.4,  12.5 (Local)

2025-09-20T00:02:04.268Z,1758326524.268 [DAT](INFO): DAT read: Range 11 to 50 : 166.5 m  (Round-trip  222.0 ms) speed  0.0 m/s

2025-09-20T00:02:04.269Z,1758326524.269 [DAT](INFO): DAT read: user:670>

2025-09-20T00:02:04.269Z,1758326524.269 [DAT](INFO): DAT read: Tx time:00:02:05.7115

2025-09-20T00:02:04.270Z,1758326524.270 [DAT](INFO): Ping request sent.
2025-09-20T00:02:04.270Z,1758326524.270 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:04.270Z,1758326524.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:04.271Z,1758326524.271 [DAT](INFO): direction in FSK: [0.948282,0.247009,0.199368]
2025-09-20T00:02:04.271Z,1758326524.271 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:04.271Z,1758326524.271 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:04.287Z,1758326524.287 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:04.287Z,1758326524.287 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:04.605Z,1758326524.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 166.500000 m,
      deltaT: 3.780714 s,
      deltaX: -1.899994 m,
      approachRate: -0.502549 m/s,
      rangeRepo size: 4

2025-09-20T00:02:04.607Z,1758326524.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 166.061127 m,
      bearing: 262.372483 deg,
      lat: 36.779513 deg,
      lon: -121.859716 deg,
      deltaT: 3.780714 s,
      deltaX: -1.894928 m,
      approachRate: -0.501209 m/s,
      posRepo size: 4

2025-09-20T00:02:04.608Z,1758326524.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:04.610Z,1758326524.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 162.881607 m,
      bearing: 262.645399 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006160 deg/s,
      cmd heading: 247.856418 deg,
      new cmd heading: 247.850168 deg.

2025-09-20T00:02:04.611Z,1758326524.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325801 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:04.910Z,1758326524.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:04.913Z,1758326524.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 162.723312 m,
      bearing: 262.642580 deg,
      approach rate: -0.517865 m/s,
      LOS rate: -0.009233 deg/s,
      cmd heading: 247.850162 deg,
      new cmd heading: 247.844517 deg.

2025-09-20T00:02:04.914Z,1758326524.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325703 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:05.319Z,1758326525.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:05.322Z,1758326525.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 162.514008 m,
      bearing: 262.638850 deg,
      approach rate: -0.511094 m/s,
      LOS rate: -0.009119 deg/s,
      cmd heading: 247.844506 deg,
      new cmd heading: 247.837037 deg.

2025-09-20T00:02:05.323Z,1758326525.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325572 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:05.784Z,1758326525.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:05.790Z,1758326525.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:05.792Z,1758326525.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 162.289764 m,
      bearing: 262.633555 deg,
      approach rate: -0.476875 m/s,
      LOS rate: -0.011276 deg/s,
      cmd heading: 247.837048 deg,
      new cmd heading: 247.826443 deg.

2025-09-20T00:02:05.793Z,1758326525.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325387 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:06.017Z,1758326526.017 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:06.017Z,1758326526.017 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:06.017Z,1758326526.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:06.123Z,1758326526.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:06.126Z,1758326526.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 162.120728 m,
      bearing: 262.629546 deg,
      approach rate: -0.506608 m/s,
      LOS rate: -0.012027 deg/s,
      cmd heading: 247.826447 deg,
      new cmd heading: 247.818422 deg.

2025-09-20T00:02:06.127Z,1758326526.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325247 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:06.269Z,1758326526.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999596
2025-09-20T00:02:06.524Z,1758326526.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253524
2025-09-20T00:02:06.653Z,1758326526.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:06.659Z,1758326526.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 161.868347 m,
      bearing: 262.624103 deg,
      approach rate: -0.476390 m/s,
      LOS rate: -0.010290 deg/s,
      cmd heading: 247.818415 deg,
      new cmd heading: 247.807512 deg.

2025-09-20T00:02:06.662Z,1758326526.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325057 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:06.773Z,1758326526.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503128
2025-09-20T00:02:06.985Z,1758326526.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:06.988Z,1758326526.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 161.709946 m,
      bearing: 262.620645 deg,
      approach rate: -0.476847 m/s,
      LOS rate: -0.010419 deg/s,
      cmd heading: 247.807514 deg,
      new cmd heading: 247.800592 deg.

2025-09-20T00:02:06.989Z,1758326526.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324936 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:07.026Z,1758326527.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755745
2025-09-20T00:02:07.277Z,1758326527.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007118
2025-09-20T00:02:07.395Z,1758326527.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:07.413Z,1758326527.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 161.514832 m,
      bearing: 262.616340 deg,
      approach rate: -0.476563 m/s,
      LOS rate: -0.010528 deg/s,
      cmd heading: 247.800602 deg,
      new cmd heading: 247.791981 deg.

2025-09-20T00:02:07.414Z,1758326527.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324786 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:07.533Z,1758326527.533 [DAT](INFO): DAT read: Rx Time:00:02:08.3351

2025-09-20T00:02:07.535Z,1758326527.535 [DAT](INFO): Rx dataTimestamp_ set to:1758326527.533552
2025-09-20T00:02:07.537Z,1758326527.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266819
2025-09-20T00:02:07.781Z,1758326527.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511232
2025-09-20T00:02:07.810Z,1758326527.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:07.813Z,1758326527.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.06 m.
2025-09-20T00:02:07.815Z,1758326527.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.061127 m,
      nav range: 161.315063 m,
      bearing: 262.610980 deg,
      approach rate: -0.477708 m/s,
      LOS rate: -0.012833 deg/s,
      cmd heading: 247.791968 deg,
      new cmd heading: 247.781235 deg.

2025-09-20T00:02:07.817Z,1758326527.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324598 target range: 166.061127 and range: 166.50 m.
2025-09-20T00:02:08.039Z,1758326528.039 [DAT](INFO): DAT read: 00:02:08.3351 LVL= 26016, 32753, 30946, 32755, AGC= 68, IDX= 420, 0.42, 2.759, 0.734, 2.408, 2.334, PHS= 0.527,-1.555, 0.030, RAW= 136.8,  10.6, CAL= 136.3,  11.6, ROT=  13.7, -11.6

2025-09-20T00:02:08.040Z,1758326528.040 [DAT](INFO): got valid direction response:
 00:02:08.3351 LVL= 26016, 32753, 30946, 32755, AGC= 68, IDX= 420, 0.42, 2.759, 0.734, 2.408, 2.334, PHS= 0.527,-1.555, 0.030, RAW= 136.8,  10.6, CAL= 136.3,  11.6, ROT=  13.7, -11.6

2025-09-20T00:02:08.041Z,1758326528.041 [DAT](INFO): DAT read: Bearing  37.2,  12.0 (Local)

2025-09-20T00:02:08.041Z,1758326528.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.2,  12.0 (Local)

2025-09-20T00:02:08.043Z,1758326528.043 [DAT](INFO): DAT read: Range 11 to 50 : 164.6 m  (Round-trip  219.5 ms) speed  0.4 m/s

2025-09-20T00:02:08.043Z,1758326528.043 [DAT](INFO): DAT read: user:671>

2025-09-20T00:02:08.044Z,1758326528.044 [DAT](INFO): DAT read: Tx time:00:02:09.4615

2025-09-20T00:02:08.044Z,1758326528.044 [DAT](INFO): Ping request sent.
2025-09-20T00:02:08.045Z,1758326528.045 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:08.045Z,1758326528.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:08.046Z,1758326528.046 [DAT](INFO): direction in FSK: [0.951705,0.232001,0.201078]
2025-09-20T00:02:08.046Z,1758326528.046 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:08.046Z,1758326528.046 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:08.053Z,1758326528.053 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:08.054Z,1758326528.054 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:08.254Z,1758326528.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 164.600006 m,
      deltaT: 3.779281 s,
      deltaX: -1.899994 m,
      approachRate: -0.502739 m/s,
      rangeRepo size: 4

2025-09-20T00:02:08.260Z,1758326528.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.166183 m,
      bearing: 261.597699 deg,
      lat: 36.779505 deg,
      lon: -121.859716 deg,
      deltaT: 3.779281 s,
      deltaX: -1.894943 m,
      approachRate: -0.501403 m/s,
      posRepo size: 4

2025-09-20T00:02:08.263Z,1758326528.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:08.270Z,1758326528.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 161.228485 m,
      bearing: 262.301960 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012833 deg/s,
      cmd heading: 247.781231 deg,
      new cmd heading: 247.769932 deg.

2025-09-20T00:02:08.271Z,1758326528.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324401 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:08.666Z,1758326528.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:08.669Z,1758326528.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 161.015411 m,
      bearing: 262.297456 deg,
      approach rate: -0.516011 m/s,
      LOS rate: -0.010921 deg/s,
      cmd heading: 247.769921 deg,
      new cmd heading: 247.760902 deg.

2025-09-20T00:02:08.670Z,1758326528.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324244 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:09.042Z,1758326529.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:09.045Z,1758326529.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 160.829926 m,
      bearing: 262.293502 deg,
      approach rate: -0.493222 m/s,
      LOS rate: -0.010527 deg/s,
      cmd heading: 247.760905 deg,
      new cmd heading: 247.752987 deg.

2025-09-20T00:02:09.046Z,1758326529.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324105 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:09.438Z,1758326529.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:09.441Z,1758326529.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 160.632309 m,
      bearing: 262.289271 deg,
      approach rate: -0.498769 m/s,
      LOS rate: -0.010693 deg/s,
      cmd heading: 247.752982 deg,
      new cmd heading: 247.744508 deg.

2025-09-20T00:02:09.442Z,1758326529.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323957 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:09.883Z,1758326529.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:09.885Z,1758326529.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:09.888Z,1758326529.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 160.419998 m,
      bearing: 262.282184 deg,
      approach rate: -0.475049 m/s,
      LOS rate: -0.015877 deg/s,
      cmd heading: 247.744512 deg,
      new cmd heading: 247.730321 deg.

2025-09-20T00:02:09.889Z,1758326529.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323710 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:10.053Z,1758326530.053 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:10.053Z,1758326530.053 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:10.053Z,1758326530.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:10.252Z,1758326530.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:10.255Z,1758326530.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 160.245178 m,
      bearing: 262.276326 deg,
      approach rate: -0.476653 m/s,
      LOS rate: -0.015991 deg/s,
      cmd heading: 247.730333 deg,
      new cmd heading: 247.718603 deg.

2025-09-20T00:02:10.256Z,1758326530.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323505 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:10.306Z,1758326530.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261099
2025-09-20T00:02:10.559Z,1758326530.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514420
2025-09-20T00:02:10.755Z,1758326530.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:10.759Z,1758326530.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 159.994568 m,
      bearing: 262.269781 deg,
      approach rate: -0.498365 m/s,
      LOS rate: -0.013034 deg/s,
      cmd heading: 247.718612 deg,
      new cmd heading: 247.705503 deg.

2025-09-20T00:02:10.760Z,1758326530.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323277 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:10.810Z,1758326530.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765183
2025-09-20T00:02:11.066Z,1758326531.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020960
2025-09-20T00:02:11.150Z,1758326531.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:11.157Z,1758326531.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 159.793533 m,
      bearing: 262.264544 deg,
      approach rate: -0.508563 m/s,
      LOS rate: -0.013266 deg/s,
      cmd heading: 247.705498 deg,
      new cmd heading: 247.695010 deg.

2025-09-20T00:02:11.158Z,1758326531.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323093 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:11.313Z,1758326531.313 [DAT](INFO): DAT read: Rx Time:00:02:12.0828

2025-09-20T00:02:11.313Z,1758326531.313 [DAT](INFO): Rx dataTimestamp_ set to:1758326531.313137
2025-09-20T00:02:11.314Z,1758326531.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269387
2025-09-20T00:02:11.585Z,1758326531.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539046
2025-09-20T00:02:11.752Z,1758326531.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.17 m.
2025-09-20T00:02:11.756Z,1758326531.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.166183 m,
      nav range: 159.481964 m,
      bearing: 262.253473 deg,
      approach rate: -0.518316 m/s,
      LOS rate: -0.018453 deg/s,
      cmd heading: 247.695007 deg,
      new cmd heading: 247.672822 deg.

2025-09-20T00:02:11.758Z,1758326531.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322706 target range: 164.166183 and range: 164.60 m.
2025-09-20T00:02:11.844Z,1758326531.844 [DAT](INFO): DAT read: 00:02:12.0828 LVL= 31872, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.48, 0.773,-1.216, 0.446, 0.366, PHS= 0.510,-1.536, 0.036, RAW= 137.2,  10.7, CAL= 136.8,  11.7, ROT=  13.2, -11.7

2025-09-20T00:02:11.846Z,1758326531.846 [DAT](INFO): got valid direction response:
 00:02:12.0828 LVL= 31872, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.48, 0.773,-1.216, 0.446, 0.366, PHS= 0.510,-1.536, 0.036, RAW= 137.2,  10.7, CAL= 136.8,  11.7, ROT=  13.2, -11.7

2025-09-20T00:02:11.848Z,1758326531.848 [DAT](INFO): DAT read: Bearing  37.0,  12.1 (Local)

2025-09-20T00:02:11.849Z,1758326531.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.0,  12.1 (Local)

2025-09-20T00:02:11.853Z,1758326531.853 [DAT](INFO): DAT read: Range 11 to 50 : 162.8 m  (Round-trip  217.1 ms) speed  0.4 m/s

2025-09-20T00:02:11.854Z,1758326531.854 [DAT](INFO): DAT read: user:672>

2025-09-20T00:02:11.855Z,1758326531.855 [DAT](INFO): DAT read: Tx time:00:02:13.2115

2025-09-20T00:02:11.856Z,1758326531.856 [DAT](INFO): Ping request sent.
2025-09-20T00:02:11.856Z,1758326531.856 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:11.857Z,1758326531.857 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:11.858Z,1758326531.858 [DAT](INFO): direction in FSK: [0.953351,0.223606,0.202787]
2025-09-20T00:02:11.858Z,1758326531.858 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:11.858Z,1758326531.858 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:11.875Z,1758326531.875 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:11.875Z,1758326531.875 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:12.111Z,1758326532.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.800003 m,
      deltaT: 3.800784 s,
      deltaX: -1.800003 m,
      approachRate: -0.473587 m/s,
      rangeRepo size: 4

2025-09-20T00:02:12.113Z,1758326532.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 162.370743 m,
      bearing: 261.092349 deg,
      lat: 36.779493 deg,
      lon: -121.859714 deg,
      deltaT: 3.800784 s,
      deltaX: -1.795441 m,
      approachRate: -0.472387 m/s,
      posRepo size: 4

2025-09-20T00:02:12.114Z,1758326532.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:12.117Z,1758326532.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 159.390701 m,
      bearing: 261.752632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018453 deg/s,
      cmd heading: 247.672823 deg,
      new cmd heading: 247.659574 deg.

2025-09-20T00:02:12.118Z,1758326532.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322475 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:12.474Z,1758326532.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:12.476Z,1758326532.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:12.479Z,1758326532.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 159.192459 m,
      bearing: 261.745014 deg,
      approach rate: -0.541910 m/s,
      LOS rate: -0.020851 deg/s,
      cmd heading: 247.659572 deg,
      new cmd heading: 247.644317 deg.

2025-09-20T00:02:12.480Z,1758326532.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322209 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:12.591Z,1758326532.591 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:12.591Z,1758326532.591 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:12.593Z,1758326532.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:12.842Z,1758326532.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985746
2025-09-20T00:02:12.910Z,1758326532.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:12.913Z,1758326532.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 158.966736 m,
      bearing: 261.736665 deg,
      approach rate: -0.519913 m/s,
      LOS rate: -0.019258 deg/s,
      cmd heading: 247.644327 deg,
      new cmd heading: 247.627605 deg.

2025-09-20T00:02:12.914Z,1758326532.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321917 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:13.094Z,1758326533.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237363
2025-09-20T00:02:13.294Z,1758326533.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:13.297Z,1758326533.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 158.767227 m,
      bearing: 261.729266 deg,
      approach rate: -0.519826 m/s,
      LOS rate: -0.019303 deg/s,
      cmd heading: 247.627607 deg,
      new cmd heading: 247.612790 deg.

2025-09-20T00:02:13.298Z,1758326533.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321659 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:13.347Z,1758326533.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490689
2025-09-20T00:02:13.600Z,1758326533.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743106
2025-09-20T00:02:13.682Z,1758326533.682 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032703495877,35.0, +12.1,   0.,  0
2025-09-20T00:02:13.698Z,1758326533.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:13.701Z,1758326533.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 158.557526 m,
      bearing: 261.721585 deg,
      approach rate: -0.518513 m/s,
      LOS rate: -0.019017 deg/s,
      cmd heading: 247.612799 deg,
      new cmd heading: 247.597417 deg.

2025-09-20T00:02:13.702Z,1758326533.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321390 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:13.850Z,1758326533.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993721
2025-09-20T00:02:14.101Z,1758326534.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244665
2025-09-20T00:02:14.160Z,1758326534.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:14.162Z,1758326534.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 158.317444 m,
      bearing: 261.712822 deg,
      approach rate: -0.520501 m/s,
      LOS rate: -0.019026 deg/s,
      cmd heading: 247.597417 deg,
      new cmd heading: 247.579866 deg.

2025-09-20T00:02:14.163Z,1758326534.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321084 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:14.353Z,1758326534.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497087
2025-09-20T00:02:14.515Z,1758326534.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:14.517Z,1758326534.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:14.520Z,1758326534.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 158.131805 m,
      bearing: 261.706039 deg,
      approach rate: -0.519074 m/s,
      LOS rate: -0.018989 deg/s,
      cmd heading: 247.579877 deg,
      new cmd heading: 247.566295 deg.

2025-09-20T00:02:14.521Z,1758326534.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320847 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:14.608Z,1758326534.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750863
2025-09-20T00:02:14.858Z,1758326534.858 [DAT](INFO): DAT read: Rx Time:00:02:15.8302

2025-09-20T00:02:14.858Z,1758326534.858 [DAT](INFO): Rx dataTimestamp_ set to:1758326534.857708
2025-09-20T00:02:14.859Z,1758326534.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002343
2025-09-20T00:02:14.972Z,1758326534.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:14.975Z,1758326534.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 157.905182 m,
      bearing: 261.702346 deg,
      approach rate: -0.502681 m/s,
      LOS rate: -0.008205 deg/s,
      cmd heading: 247.566299 deg,
      new cmd heading: 247.558901 deg.

2025-09-20T00:02:14.984Z,1758326534.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320718 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:15.109Z,1758326535.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252700
2025-09-20T00:02:15.352Z,1758326535.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.37 m.
2025-09-20T00:02:15.359Z,1758326535.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.370743 m,
      nav range: 157.711502 m,
      bearing: 261.699221 deg,
      approach rate: -0.505108 m/s,
      LOS rate: -0.008158 deg/s,
      cmd heading: 247.558895 deg,
      new cmd heading: 247.552639 deg.

2025-09-20T00:02:15.361Z,1758326535.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504989
2025-09-20T00:02:15.364Z,1758326535.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320609 target range: 162.370743 and range: 162.80 m.
2025-09-20T00:02:15.631Z,1758326535.631 [DAT](INFO): DAT read: 00:02:15.8302 LVL= 23664, 32753, 28914, 32755, AGC= 68, IDX= 418, 0.09, 1.969,-0.063, 1.625, 1.555, PHS= 0.516,-1.573, 0.026, RAW= 137.0,  10.9, CAL= 136.6,  11.9, ROT=  13.4, -11.9

2025-09-20T00:02:15.635Z,1758326535.635 [DAT](INFO): got valid direction response:
 00:02:15.8302 LVL= 23664, 32753, 28914, 32755, AGC= 68, IDX= 418, 0.09, 1.969,-0.063, 1.625, 1.555, PHS= 0.516,-1.573, 0.026, RAW= 137.0,  10.9, CAL= 136.6,  11.9, ROT=  13.4, -11.9

2025-09-20T00:02:15.638Z,1758326535.638 [DAT](INFO): DAT read: Bearing  37.0,  12.4 (Local)

2025-09-20T00:02:15.639Z,1758326535.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.0,  12.4 (Local)

2025-09-20T00:02:15.656Z,1758326535.656 [DAT](INFO): DAT read: Range 11 to 50 : 160.9 m  (Round-trip  214.6 ms) speed  0.4 m/s

2025-09-20T00:02:15.659Z,1758326535.659 [DAT](INFO): DAT read: user:673>

2025-09-20T00:02:15.662Z,1758326535.662 [DAT](INFO): DAT read: Tx time:00:02:16.9615

2025-09-20T00:02:15.663Z,1758326535.663 [DAT](INFO): Ping request sent.
2025-09-20T00:02:15.663Z,1758326535.663 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:15.671Z,1758326535.671 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:15.681Z,1758326535.681 [DAT](INFO): direction in FSK: [0.951870,0.226767,0.206204]
2025-09-20T00:02:15.681Z,1758326535.681 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:15.681Z,1758326535.681 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:15.713Z,1758326535.713 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:15.713Z,1758326535.713 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:15.883Z,1758326535.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.899994 m,
      deltaT: 3.780276 s,
      deltaX: -1.900009 m,
      approachRate: -0.502611 m/s,
      rangeRepo size: 4

2025-09-20T00:02:15.890Z,1758326535.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.475449 m,
      bearing: 261.106204 deg,
      lat: 36.779487 deg,
      lon: -121.859714 deg,
      deltaT: 3.780276 s,
      deltaX: -1.895294 m,
      approachRate: -0.501364 m/s,
      posRepo size: 4

2025-09-20T00:02:15.891Z,1758326535.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:15.902Z,1758326535.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 157.540253 m,
      bearing: 261.467780 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008158 deg/s,
      cmd heading: 247.552639 deg,
      new cmd heading: 247.543978 deg.

2025-09-20T00:02:15.905Z,1758326535.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320457 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:16.183Z,1758326536.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:16.186Z,1758326536.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 157.349075 m,
      bearing: 261.465495 deg,
      approach rate: -0.636424 m/s,
      LOS rate: -0.007617 deg/s,
      cmd heading: 247.543978 deg,
      new cmd heading: 247.539402 deg.

2025-09-20T00:02:16.187Z,1758326536.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320378 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:16.566Z,1758326536.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:16.569Z,1758326536.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:16.571Z,1758326536.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 157.131012 m,
      bearing: 261.462865 deg,
      approach rate: -0.565114 m/s,
      LOS rate: -0.006826 deg/s,
      cmd heading: 247.539415 deg,
      new cmd heading: 247.534147 deg.

2025-09-20T00:02:16.572Z,1758326536.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320286 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:16.623Z,1758326536.623 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:16.624Z,1758326536.624 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:16.625Z,1758326536.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:16.873Z,1758326536.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.210126
2025-09-20T00:02:17.024Z,1758326537.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:17.027Z,1758326537.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 156.913681 m,
      bearing: 261.460536 deg,
      approach rate: -0.481382 m/s,
      LOS rate: -0.005165 deg/s,
      cmd heading: 247.534142 deg,
      new cmd heading: 247.529479 deg.

2025-09-20T00:02:17.032Z,1758326537.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320204 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:17.125Z,1758326537.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462587
2025-09-20T00:02:17.377Z,1758326537.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714397
2025-09-20T00:02:17.408Z,1758326537.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:02:17.426Z,1758326537.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:17.429Z,1758326537.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 156.714569 m,
      bearing: 261.458397 deg,
      approach rate: -0.490888 m/s,
      LOS rate: -0.005280 deg/s,
      cmd heading: 247.529471 deg,
      new cmd heading: 247.525187 deg.

2025-09-20T00:02:17.430Z,1758326537.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320129 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:17.631Z,1758326537.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968322
2025-09-20T00:02:17.819Z,1758326537.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:17.844Z,1758326537.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 156.502792 m,
      bearing: 261.457618 deg,
      approach rate: -0.539953 m/s,
      LOS rate: -0.001988 deg/s,
      cmd heading: 247.525181 deg,
      new cmd heading: 247.523622 deg.

2025-09-20T00:02:17.846Z,1758326537.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320102 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:17.882Z,1758326537.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219709
2025-09-20T00:02:18.133Z,1758326538.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470217
2025-09-20T00:02:18.214Z,1758326538.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:18.217Z,1758326538.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 156.302078 m,
      bearing: 261.456868 deg,
      approach rate: -0.506287 m/s,
      LOS rate: -0.001896 deg/s,
      cmd heading: 247.523624 deg,
      new cmd heading: 247.522121 deg.

2025-09-20T00:02:18.218Z,1758326538.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320076 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:18.385Z,1758326538.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722209
2025-09-20T00:02:18.412Z,1758326538.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:02:18.621Z,1758326538.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:18.623Z,1758326538.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:18.637Z,1758326538.637 [DAT](INFO): DAT read: Rx Time:00:02:19.5776

2025-09-20T00:02:18.638Z,1758326538.638 [DAT](INFO): Rx dataTimestamp_ set to:1758326538.637249
2025-09-20T00:02:18.638Z,1758326538.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975412
2025-09-20T00:02:18.650Z,1758326538.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 156.086426 m,
      bearing: 261.456058 deg,
      approach rate: -0.528229 m/s,
      LOS rate: -0.001986 deg/s,
      cmd heading: 247.522121 deg,
      new cmd heading: 247.520500 deg.

2025-09-20T00:02:18.658Z,1758326538.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320048 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:18.889Z,1758326538.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226181
2025-09-20T00:02:19.144Z,1758326539.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480595
2025-09-20T00:02:19.154Z,1758326539.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.48 m.
2025-09-20T00:02:19.189Z,1758326539.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.475449 m,
      nav range: 155.863297 m,
      bearing: 261.453443 deg,
      approach rate: -0.448512 m/s,
      LOS rate: -0.005264 deg/s,
      cmd heading: 247.520509 deg,
      new cmd heading: 247.515272 deg.

2025-09-20T00:02:19.190Z,1758326539.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319956 target range: 160.475449 and range: 160.90 m.
2025-09-20T00:02:19.402Z,1758326539.402 [DAT](INFO): DAT read: 00:02:19.5776 LVL= 29904, 32753, 32242, 32755, AGC= 64, IDX= 407, 0.05, 1.099,-0.798, 0.838, 0.718, PHS= 0.483,-1.471, 0.076, RAW= 138.6,  10.3, CAL= 138.1,  11.2, ROT=  11.9, -11.2

2025-09-20T00:02:19.404Z,1758326539.404 [DAT](INFO): got valid direction response:
 00:02:19.5776 LVL= 29904, 32753, 32242, 32755, AGC= 64, IDX= 407, 0.05, 1.099,-0.798, 0.838, 0.718, PHS= 0.483,-1.471, 0.076, RAW= 138.6,  10.3, CAL= 138.1,  11.2, ROT=  11.9, -11.2

2025-09-20T00:02:19.405Z,1758326539.405 [DAT](INFO): DAT read: Bearing  36.0,  11.1 (Local)

2025-09-20T00:02:19.406Z,1758326539.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.0,  11.1 (Local)

2025-09-20T00:02:19.408Z,1758326539.408 [DAT](INFO): DAT read: Range 11 to 50 : 159.0 m  (Round-trip  212.0 ms) speed  0.3 m/s

2025-09-20T00:02:19.409Z,1758326539.409 [DAT](INFO): DAT read: user:674>

2025-09-20T00:02:19.410Z,1758326539.410 [DAT](INFO): DAT read: Tx time:00:02:20.6615

2025-09-20T00:02:19.411Z,1758326539.411 [DAT](INFO): Ping request sent.
2025-09-20T00:02:19.411Z,1758326539.411 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:19.411Z,1758326539.411 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:19.413Z,1758326539.413 [DAT](INFO): direction in FSK: [0.959873,0.202277,0.194234]
2025-09-20T00:02:19.413Z,1758326539.413 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:19.413Z,1758326539.413 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:19.423Z,1758326539.423 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:19.423Z,1758326539.423 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:19.605Z,1758326539.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.000000 m,
      deltaT: 3.782340 s,
      deltaX: -1.899994 m,
      approachRate: -0.502333 m/s,
      rangeRepo size: 4

2025-09-20T00:02:19.607Z,1758326539.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 158.580551 m,
      bearing: 259.632967 deg,
      lat: 36.779478 deg,
      lon: -121.859713 deg,
      deltaT: 3.782340 s,
      deltaX: -1.894897 m,
      approachRate: -0.500986 m/s,
      posRepo size: 4

2025-09-20T00:02:19.607Z,1758326539.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:19.614Z,1758326539.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 155.612045 m,
      bearing: 261.094233 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005264 deg/s,
      cmd heading: 247.515264 deg,
      new cmd heading: 247.510380 deg.

2025-09-20T00:02:19.615Z,1758326539.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319871 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:19.962Z,1758326539.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:19.965Z,1758326539.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 155.409515 m,
      bearing: 261.089353 deg,
      approach rate: -0.535649 m/s,
      LOS rate: -0.012923 deg/s,
      cmd heading: 247.510373 deg,
      new cmd heading: 247.500601 deg.

2025-09-20T00:02:19.966Z,1758326539.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319700 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:20.361Z,1758326540.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:20.364Z,1758326540.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 155.208694 m,
      bearing: 261.084494 deg,
      approach rate: -0.503137 m/s,
      LOS rate: -0.012190 deg/s,
      cmd heading: 247.500593 deg,
      new cmd heading: 247.490862 deg.

2025-09-20T00:02:20.365Z,1758326540.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319530 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:20.849Z,1758326540.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:20.851Z,1758326540.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:20.854Z,1758326540.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 154.966461 m,
      bearing: 261.077026 deg,
      approach rate: -0.494807 m/s,
      LOS rate: -0.015277 deg/s,
      cmd heading: 247.490866 deg,
      new cmd heading: 247.475908 deg.

2025-09-20T00:02:20.855Z,1758326540.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319269 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:20.905Z,1758326540.905 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:20.905Z,1758326540.905 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:20.906Z,1758326540.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:21.157Z,1758326541.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746216
2025-09-20T00:02:21.168Z,1758326541.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:21.171Z,1758326541.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 154.809280 m,
      bearing: 261.072183 deg,
      approach rate: -0.495576 m/s,
      LOS rate: -0.015285 deg/s,
      cmd heading: 247.475895 deg,
      new cmd heading: 247.466199 deg.

2025-09-20T00:02:21.172Z,1758326541.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319100 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:21.409Z,1758326541.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998060
2025-09-20T00:02:21.558Z,1758326541.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:21.560Z,1758326541.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 154.616608 m,
      bearing: 261.066256 deg,
      approach rate: -0.494511 m/s,
      LOS rate: -0.015233 deg/s,
      cmd heading: 247.466196 deg,
      new cmd heading: 247.454326 deg.

2025-09-20T00:02:21.561Z,1758326541.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318893 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:21.662Z,1758326541.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251229
2025-09-20T00:02:21.913Z,1758326541.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502161
2025-09-20T00:02:21.989Z,1758326541.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:21.992Z,1758326541.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 154.400940 m,
      bearing: 261.057759 deg,
      approach rate: -0.499639 m/s,
      LOS rate: -0.019712 deg/s,
      cmd heading: 247.454339 deg,
      new cmd heading: 247.437321 deg.

2025-09-20T00:02:21.993Z,1758326541.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318596 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:22.165Z,1758326542.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754042
2025-09-20T00:02:22.370Z,1758326542.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:22.373Z,1758326542.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 154.210434 m,
      bearing: 261.050266 deg,
      approach rate: -0.499812 m/s,
      LOS rate: -0.019684 deg/s,
      cmd heading: 247.437318 deg,
      new cmd heading: 247.422313 deg.

2025-09-20T00:02:22.374Z,1758326542.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318334 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:22.417Z,1758326542.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006242
2025-09-20T00:02:22.669Z,1758326542.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258084
2025-09-20T00:02:22.839Z,1758326542.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:22.846Z,1758326542.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 153.987457 m,
      bearing: 261.041282 deg,
      approach rate: -0.475842 m/s,
      LOS rate: -0.019200 deg/s,
      cmd heading: 247.422319 deg,
      new cmd heading: 247.404325 deg.

2025-09-20T00:02:22.847Z,1758326542.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318020 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:22.922Z,1758326542.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510834
2025-09-20T00:02:23.173Z,1758326543.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762167
2025-09-20T00:02:23.183Z,1758326543.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:23.185Z,1758326543.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:23.187Z,1758326543.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 153.804245 m,
      bearing: 261.033900 deg,
      approach rate: -0.529674 m/s,
      LOS rate: -0.021367 deg/s,
      cmd heading: 247.404314 deg,
      new cmd heading: 247.389533 deg.

2025-09-20T00:02:23.189Z,1758326543.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317762 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:23.425Z,1758326543.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014135
2025-09-20T00:02:23.633Z,1758326543.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:23.635Z,1758326543.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 153.580475 m,
      bearing: 261.024860 deg,
      approach rate: -0.499748 m/s,
      LOS rate: -0.020218 deg/s,
      cmd heading: 247.389534 deg,
      new cmd heading: 247.371428 deg.

2025-09-20T00:02:23.636Z,1758326543.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317446 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:23.677Z,1758326543.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.266512
2025-09-20T00:02:23.929Z,1758326543.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.518067
2025-09-20T00:02:24.062Z,1758326544.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:24.065Z,1758326544.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 153.378143 m,
      bearing: 261.015972 deg,
      approach rate: -0.471369 m/s,
      LOS rate: -0.020733 deg/s,
      cmd heading: 247.371420 deg,
      new cmd heading: 247.353621 deg.

2025-09-20T00:02:24.066Z,1758326544.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317135 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:24.182Z,1758326544.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.770731
2025-09-20T00:02:24.412Z,1758326544.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:24.415Z,1758326544.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 153.212952 m,
      bearing: 261.008698 deg,
      approach rate: -0.471938 m/s,
      LOS rate: -0.020803 deg/s,
      cmd heading: 247.353634 deg,
      new cmd heading: 247.339071 deg.

2025-09-20T00:02:24.416Z,1758326544.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316881 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:24.433Z,1758326544.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.022121
2025-09-20T00:02:24.685Z,1758326544.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.274149
2025-09-20T00:02:24.877Z,1758326544.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:24.879Z,1758326544.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 152.993423 m,
      bearing: 261.000206 deg,
      approach rate: -0.472524 m/s,
      LOS rate: -0.018305 deg/s,
      cmd heading: 247.339072 deg,
      new cmd heading: 247.322064 deg.

2025-09-20T00:02:24.880Z,1758326544.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316584 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:24.938Z,1758326544.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.527000
2025-09-20T00:02:25.189Z,1758326545.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.778058
2025-09-20T00:02:25.218Z,1758326545.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:25.221Z,1758326545.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:25.223Z,1758326545.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 152.830704 m,
      bearing: 260.993876 deg,
      approach rate: -0.472753 m/s,
      LOS rate: -0.018410 deg/s,
      cmd heading: 247.322051 deg,
      new cmd heading: 247.309378 deg.

2025-09-20T00:02:25.241Z,1758326545.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316363 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:25.441Z,1758326545.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.030324
2025-09-20T00:02:25.598Z,1758326545.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:25.601Z,1758326545.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 152.651794 m,
      bearing: 260.986891 deg,
      approach rate: -0.473965 m/s,
      LOS rate: -0.018525 deg/s,
      cmd heading: 247.309375 deg,
      new cmd heading: 247.295389 deg.

2025-09-20T00:02:25.602Z,1758326545.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316119 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:25.694Z,1758326545.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.282954
2025-09-20T00:02:25.945Z,1758326545.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.534089
2025-09-20T00:02:26.046Z,1758326546.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:26.050Z,1758326546.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 152.447815 m,
      bearing: 260.980313 deg,
      approach rate: -0.455545 m/s,
      LOS rate: -0.014710 deg/s,
      cmd heading: 247.295386 deg,
      new cmd heading: 247.282213 deg.

2025-09-20T00:02:26.051Z,1758326546.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315889 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:26.197Z,1758326546.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.786015
2025-09-20T00:02:26.434Z,1758326546.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:26.437Z,1758326546.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 152.261093 m,
      bearing: 260.974275 deg,
      approach rate: -0.481138 m/s,
      LOS rate: -0.015579 deg/s,
      cmd heading: 247.282218 deg,
      new cmd heading: 247.270126 deg.

2025-09-20T00:02:26.438Z,1758326546.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315678 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:26.449Z,1758326546.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.038231
2025-09-20T00:02:26.701Z,1758326546.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.290094
2025-09-20T00:02:26.903Z,1758326546.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:26.906Z,1758326546.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 152.033752 m,
      bearing: 260.967366 deg,
      approach rate: -0.484485 m/s,
      LOS rate: -0.014745 deg/s,
      cmd heading: 247.270115 deg,
      new cmd heading: 247.256277 deg.

2025-09-20T00:02:26.907Z,1758326546.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315436 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:26.954Z,1758326546.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.542854
2025-09-20T00:02:27.205Z,1758326547.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.794176
2025-09-20T00:02:27.295Z,1758326547.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:27.316Z,1758326547.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:27.325Z,1758326547.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 151.835037 m,
      bearing: 260.961310 deg,
      approach rate: -0.501973 m/s,
      LOS rate: -0.015318 deg/s,
      cmd heading: 247.256263 deg,
      new cmd heading: 247.244136 deg.

2025-09-20T00:02:27.327Z,1758326547.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315224 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:27.457Z,1758326547.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.045983
2025-09-20T00:02:27.676Z,1758326547.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:27.682Z,1758326547.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 151.660431 m,
      bearing: 260.955943 deg,
      approach rate: -0.468357 m/s,
      LOS rate: -0.014412 deg/s,
      cmd heading: 247.244133 deg,
      new cmd heading: 247.233387 deg.

2025-09-20T00:02:27.683Z,1758326547.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315037 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:27.709Z,1758326547.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.298373
2025-09-20T00:02:27.961Z,1758326547.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.550060
2025-09-20T00:02:28.106Z,1758326548.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:28.110Z,1758326548.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 151.446701 m,
      bearing: 260.950653 deg,
      approach rate: -0.491844 m/s,
      LOS rate: -0.012192 deg/s,
      cmd heading: 247.233396 deg,
      new cmd heading: 247.222799 deg.

2025-09-20T00:02:28.111Z,1758326548.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314852 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:28.213Z,1758326548.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.802091
2025-09-20T00:02:28.465Z,1758326548.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.053902
2025-09-20T00:02:28.486Z,1758326548.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:28.490Z,1758326548.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 151.248093 m,
      bearing: 260.945723 deg,
      approach rate: -0.522819 m/s,
      LOS rate: -0.012994 deg/s,
      cmd heading: 247.222795 deg,
      new cmd heading: 247.212922 deg.

2025-09-20T00:02:28.491Z,1758326548.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314680 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:28.717Z,1758326548.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.306159
2025-09-20T00:02:28.900Z,1758326548.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:28.903Z,1758326548.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 151.040009 m,
      bearing: 260.942979 deg,
      approach rate: -0.503032 m/s,
      LOS rate: -0.006642 deg/s,
      cmd heading: 247.212932 deg,
      new cmd heading: 247.207437 deg.

2025-09-20T00:02:28.905Z,1758326548.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314584 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:28.969Z,1758326548.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.558195
2025-09-20T00:02:29.225Z,1758326549.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.813534
2025-09-20T00:02:29.326Z,1758326549.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:29.332Z,1758326549.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:29.335Z,1758326549.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 150.833557 m,
      bearing: 260.940261 deg,
      approach rate: -0.482442 m/s,
      LOS rate: -0.006361 deg/s,
      cmd heading: 247.207441 deg,
      new cmd heading: 247.201997 deg.

2025-09-20T00:02:29.340Z,1758326549.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314489 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:29.473Z,1758326549.473 [DAT](INFO): Reached modem response timeout
2025-09-20T00:02:29.473Z,1758326549.473 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:29.473Z,1758326549.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:29.722Z,1758326549.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:29.725Z,1758326549.725 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:29.731Z,1758326549.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 150.636871 m,
      bearing: 260.937742 deg,
      approach rate: -0.499325 m/s,
      LOS rate: -0.006401 deg/s,
      cmd heading: 247.202004 deg,
      new cmd heading: 247.196961 deg.

2025-09-20T00:02:29.737Z,1758326549.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314401 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:29.977Z,1758326549.977 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:30.196Z,1758326550.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:30.199Z,1758326550.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 150.377625 m,
      bearing: 260.932285 deg,
      approach rate: -0.546622 m/s,
      LOS rate: -0.011527 deg/s,
      cmd heading: 247.196950 deg,
      new cmd heading: 247.186015 deg.

2025-09-20T00:02:30.200Z,1758326550.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314210 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:30.229Z,1758326550.229 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:30.481Z,1758326550.481 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:30.593Z,1758326550.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:30.595Z,1758326550.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 150.178650 m,
      bearing: 260.928162 deg,
      approach rate: -0.501430 m/s,
      LOS rate: -0.010404 deg/s,
      cmd heading: 247.186021 deg,
      new cmd heading: 247.177765 deg.

2025-09-20T00:02:30.597Z,1758326550.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314066 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:30.733Z,1758326550.733 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:30.985Z,1758326550.985 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:31.021Z,1758326551.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:31.024Z,1758326551.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 149.943268 m,
      bearing: 260.925663 deg,
      approach rate: -0.549597 m/s,
      LOS rate: -0.005844 deg/s,
      cmd heading: 247.177771 deg,
      new cmd heading: 247.172765 deg.

2025-09-20T00:02:31.025Z,1758326551.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313979 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:31.237Z,1758326551.237 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:31.394Z,1758326551.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:31.396Z,1758326551.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:31.399Z,1758326551.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 149.727127 m,
      bearing: 260.923362 deg,
      approach rate: -0.575950 m/s,
      LOS rate: -0.006142 deg/s,
      cmd heading: 247.172771 deg,
      new cmd heading: 247.168161 deg.

2025-09-20T00:02:31.400Z,1758326551.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313898 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:31.490Z,1758326551.490 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:02:31.742Z,1758326551.742 [DAT](INFO): DAT read: Response Not Received

2025-09-20T00:02:31.742Z,1758326551.742 [DAT](INFO): response not received
2025-09-20T00:02:31.743Z,1758326551.743 [DAT](INFO): DAT read: user:675>

2025-09-20T00:02:31.744Z,1758326551.744 [DAT](INFO): DAT read: Tx time:00:02:33.1114

2025-09-20T00:02:31.744Z,1758326551.744 [DAT](INFO): Ping request sent.
2025-09-20T00:02:31.745Z,1758326551.745 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:31.745Z,1758326551.745 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:31.746Z,1758326551.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001062
2025-09-20T00:02:31.885Z,1758326551.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:31.918Z,1758326551.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 149.483276 m,
      bearing: 260.920874 deg,
      approach rate: -0.505763 m/s,
      LOS rate: -0.005167 deg/s,
      cmd heading: 247.168154 deg,
      new cmd heading: 247.163171 deg.

2025-09-20T00:02:31.919Z,1758326551.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313811 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:31.993Z,1758326551.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248882
2025-09-20T00:02:32.225Z,1758326552.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:32.228Z,1758326552.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 149.275894 m,
      bearing: 260.917100 deg,
      approach rate: -0.598564 m/s,
      LOS rate: -0.010910 deg/s,
      cmd heading: 247.163181 deg,
      new cmd heading: 247.155622 deg.

2025-09-20T00:02:32.229Z,1758326552.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313679 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:32.245Z,1758326552.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500380
2025-09-20T00:02:32.497Z,1758326552.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752304
2025-09-20T00:02:32.605Z,1758326552.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:32.607Z,1758326552.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 149.076370 m,
      bearing: 260.913607 deg,
      approach rate: -0.525559 m/s,
      LOS rate: -0.009213 deg/s,
      cmd heading: 247.155613 deg,
      new cmd heading: 247.148618 deg.

2025-09-20T00:02:32.617Z,1758326552.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313557 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:32.750Z,1758326552.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005045
2025-09-20T00:02:33.001Z,1758326553.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256236
2025-09-20T00:02:33.015Z,1758326553.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:33.018Z,1758326553.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 148.851776 m,
      bearing: 260.910219 deg,
      approach rate: -0.547678 m/s,
      LOS rate: -0.008274 deg/s,
      cmd heading: 247.148619 deg,
      new cmd heading: 247.141834 deg.

2025-09-20T00:02:33.019Z,1758326553.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313439 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:33.258Z,1758326553.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513393
2025-09-20T00:02:33.401Z,1758326553.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:33.403Z,1758326553.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:33.406Z,1758326553.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 148.643600 m,
      bearing: 260.907135 deg,
      approach rate: -0.536085 m/s,
      LOS rate: -0.007953 deg/s,
      cmd heading: 247.141844 deg,
      new cmd heading: 247.135667 deg.

2025-09-20T00:02:33.407Z,1758326553.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313331 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:33.505Z,1758326553.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760403
2025-09-20T00:02:33.758Z,1758326553.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013270
2025-09-20T00:02:33.835Z,1758326553.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:33.838Z,1758326553.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 148.411011 m,
      bearing: 260.903731 deg,
      approach rate: -0.538194 m/s,
      LOS rate: -0.007888 deg/s,
      cmd heading: 247.135669 deg,
      new cmd heading: 247.128852 deg.

2025-09-20T00:02:33.839Z,1758326553.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313212 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:34.009Z,1758326554.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264392
2025-09-20T00:02:34.261Z,1758326554.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516384
2025-09-20T00:02:34.267Z,1758326554.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:34.273Z,1758326554.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 148.198257 m,
      bearing: 260.900101 deg,
      approach rate: -0.493395 m/s,
      LOS rate: -0.008432 deg/s,
      cmd heading: 247.128839 deg,
      new cmd heading: 247.121567 deg.

2025-09-20T00:02:34.274Z,1758326554.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313085 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:34.513Z,1758326554.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768428
2025-09-20T00:02:34.624Z,1758326554.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:34.627Z,1758326554.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 148.007217 m,
      bearing: 260.896912 deg,
      approach rate: -0.540483 m/s,
      LOS rate: -0.009032 deg/s,
      cmd heading: 247.121572 deg,
      new cmd heading: 247.115187 deg.

2025-09-20T00:02:34.632Z,1758326554.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312973 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:34.769Z,1758326554.769 [DAT](INFO): DAT read: Rx Time:00:02:35.7167

2025-09-20T00:02:34.769Z,1758326554.769 [DAT](INFO): Rx dataTimestamp_ set to:1758326554.769098
2025-09-20T00:02:34.770Z,1758326554.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025334
2025-09-20T00:02:35.017Z,1758326555.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272328
2025-09-20T00:02:35.054Z,1758326555.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:35.057Z,1758326555.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 147.788803 m,
      bearing: 260.890679 deg,
      approach rate: -0.503255 m/s,
      LOS rate: -0.014383 deg/s,
      cmd heading: 247.115179 deg,
      new cmd heading: 247.102694 deg.

2025-09-20T00:02:35.058Z,1758326555.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312756 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:35.273Z,1758326555.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527194
2025-09-20T00:02:35.425Z,1758326555.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:35.427Z,1758326555.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.58 m.
2025-09-20T00:02:35.430Z,1758326555.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.580551 m,
      nav range: 147.611328 m,
      bearing: 260.885606 deg,
      approach rate: -0.476010 m/s,
      LOS rate: -0.013623 deg/s,
      cmd heading: 247.102693 deg,
      new cmd heading: 247.092535 deg.

2025-09-20T00:02:35.431Z,1758326555.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312578 target range: 158.580551 and range: 159.00 m.
2025-09-20T00:02:35.528Z,1758326555.528 [DAT](INFO): DAT read: 00:02:35.7167 LVL= 23584, 32753, 29458, 30771, AGC= 67, IDX= 297, 0.13, 0.531,-1.457, 0.185, 0.115, PHS= 0.518,-1.527, 0.027, RAW= 136.7,  10.6, CAL= 136.2,  11.7, ROT=  13.8, -11.7

2025-09-20T00:02:35.529Z,1758326555.529 [DAT](INFO): got valid direction response:
 00:02:35.7167 LVL= 23584, 32753, 29458, 30771, AGC= 67, IDX= 297, 0.13, 0.531,-1.457, 0.185, 0.115, PHS= 0.518,-1.527, 0.027, RAW= 136.7,  10.6, CAL= 136.2,  11.7, ROT=  13.8, -11.7

2025-09-20T00:02:35.530Z,1758326555.530 [DAT](INFO): DAT read: Bearing  36.1,  13.5 (Local)

2025-09-20T00:02:35.530Z,1758326555.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.1,  13.5 (Local)

2025-09-20T00:02:35.532Z,1758326555.532 [DAT](INFO): DAT read: Range 11 to 50 : 150.9 m  (Round-trip  201.2 ms) speed  0.7 m/s

2025-09-20T00:02:35.532Z,1758326555.532 [DAT](INFO): DAT read: user:676>

2025-09-20T00:02:35.533Z,1758326555.533 [DAT](INFO): DAT read: Tx time:00:02:36.8114

2025-09-20T00:02:35.533Z,1758326555.533 [DAT](INFO): Ping request sent.
2025-09-20T00:02:35.533Z,1758326555.533 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:35.534Z,1758326555.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:35.535Z,1758326555.535 [DAT](INFO): direction in FSK: [0.950957,0.233577,0.202787]
2025-09-20T00:02:35.535Z,1758326555.535 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:35.535Z,1758326555.535 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:35.538Z,1758326555.538 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:35.539Z,1758326555.539 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:35.853Z,1758326555.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.899994 m,
      deltaT: 16.125019 s,
      deltaX: -8.100006 m,
      approachRate: -0.502325 m/s,
      rangeRepo size: 4

2025-09-20T00:02:35.855Z,1758326555.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.501984 m,
      bearing: 260.792175 deg,
      lat: 36.779476 deg,
      lon: -121.859711 deg,
      deltaT: 16.125019 s,
      deltaX: -8.078568 m,
      approachRate: -0.500996 m/s,
      posRepo size: 4

2025-09-20T00:02:35.856Z,1758326555.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.50 m.
2025-09-20T00:02:35.858Z,1758326555.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.501984 m,
      nav range: 147.278183 m,
      bearing: 260.792675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013623 deg/s,
      cmd heading: 247.092530 deg,
      new cmd heading: 247.080946 deg.

2025-09-20T00:02:35.859Z,1758326555.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312376 target range: 150.501984 and range: 150.90 m.
2025-09-20T00:02:36.260Z,1758326556.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.50 m.
2025-09-20T00:02:36.263Z,1758326556.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.501984 m,
      nav range: 147.083771 m,
      bearing: 260.786026 deg,
      approach rate: -0.476306 m/s,
      LOS rate: -0.016313 deg/s,
      cmd heading: 247.080946 deg,
      new cmd heading: 247.067629 deg.

2025-09-20T00:02:36.267Z,1758326556.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312144 target range: 150.501984 and range: 150.90 m.
2025-09-20T00:02:36.645Z,1758326556.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.50 m.
2025-09-20T00:02:36.648Z,1758326556.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.501984 m,
      nav range: 146.910110 m,
      bearing: 260.780031 deg,
      approach rate: -0.450872 m/s,
      LOS rate: -0.015584 deg/s,
      cmd heading: 247.067641 deg,
      new cmd heading: 247.055636 deg.

2025-09-20T00:02:36.649Z,1758326556.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311934 target range: 150.501984 and range: 150.90 m.
2025-09-20T00:02:37.114Z,1758326557.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.50 m.
2025-09-20T00:02:37.117Z,1758326557.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.501984 m,
      nav range: 146.685089 m,
      bearing: 260.772507 deg,
      approach rate: -0.479943 m/s,
      LOS rate: -0.016072 deg/s,
      cmd heading: 247.055647 deg,
      new cmd heading: 247.040576 deg.

2025-09-20T00:02:37.118Z,1758326557.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311671 target range: 150.501984 and range: 150.90 m.
2025-09-20T00:02:37.470Z,1758326557.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:37.476Z,1758326557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.50 m.
2025-09-20T00:02:37.479Z,1758326557.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.501984 m,
      nav range: 146.522995 m,
      bearing: 260.767019 deg,
      approach rate: -0.447460 m/s,
      LOS rate: -0.015165 deg/s,
      cmd heading: 247.040566 deg,
      new cmd heading: 247.029578 deg.

2025-09-20T00:02:37.484Z,1758326557.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311480 target range: 150.501984 and range: 150.90 m.
2025-09-20T00:02:37.537Z,1758326557.537 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:37.537Z,1758326557.537 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:37.537Z,1758326557.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:37.790Z,1758326557.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256972
2025-09-20T00:02:37.878Z,1758326557.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.50 m.
2025-09-20T00:02:37.881Z,1758326557.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.501984 m,
      nav range: 146.331345 m,
      bearing: 260.760457 deg,
      approach rate: -0.477160 m/s,
      LOS rate: -0.016359 deg/s,
      cmd heading: 247.029583 deg,
      new cmd heading: 247.016441 deg.

2025-09-20T00:02:37.882Z,1758326557.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311250 target range: 150.501984 and range: 150.90 m.
2025-09-20T00:02:38.041Z,1758326558.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507414
2025-09-20T00:02:38.297Z,1758326558.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763134
2025-09-20T00:02:38.315Z,1758326558.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.50 m.
2025-09-20T00:02:38.322Z,1758326558.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.501984 m,
      nav range: 146.133087 m,
      bearing: 260.752637 deg,
      approach rate: -0.453529 m/s,
      LOS rate: -0.017914 deg/s,
      cmd heading: 247.016441 deg,
      new cmd heading: 247.000779 deg.

2025-09-20T00:02:38.323Z,1758326558.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310977 target range: 150.501984 and range: 150.90 m.
2025-09-20T00:02:38.549Z,1758326558.549 [DAT](INFO): DAT read: Rx Time:00:02:39.4143

2025-09-20T00:02:38.549Z,1758326558.549 [DAT](INFO): Rx dataTimestamp_ set to:1758326558.549115
2025-09-20T00:02:38.550Z,1758326558.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016472
2025-09-20T00:02:38.652Z,1758326558.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.50 m.
2025-09-20T00:02:38.655Z,1758326558.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.501984 m,
      nav range: 145.973572 m,
      bearing: 260.746301 deg,
      approach rate: -0.473536 m/s,
      LOS rate: -0.018827 deg/s,
      cmd heading: 247.000787 deg,
      new cmd heading: 246.988102 deg.

2025-09-20T00:02:38.685Z,1758326558.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310756 target range: 150.501984 and range: 150.90 m.
2025-09-20T00:02:38.802Z,1758326558.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268424
2025-09-20T00:02:39.059Z,1758326559.059 [DAT](INFO): DAT read: 00:02:39.4143 LVL= 28720, 32753, 29890, 32755, AGC= 69, IDX= 416, 0.46,-1.477, 2.858,-1.758,-1.881, PHS= 0.506,-1.499, 0.079, RAW= 138.3,  10.0, CAL= 137.9,  11.0, ROT=  12.1, -11.0

2025-09-20T00:02:39.060Z,1758326559.060 [DAT](INFO): got valid direction response:
 00:02:39.4143 LVL= 28720, 32753, 29890, 32755, AGC= 69, IDX= 416, 0.46,-1.477, 2.858,-1.758,-1.881, PHS= 0.506,-1.499, 0.079, RAW= 138.3,  10.0, CAL= 137.9,  11.0, ROT=  12.1, -11.0

2025-09-20T00:02:39.061Z,1758326559.061 [DAT](INFO): DAT read: Bearing  35.4,  12.7 (Local)

2025-09-20T00:02:39.061Z,1758326559.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.4,  12.7 (Local)

2025-09-20T00:02:39.063Z,1758326559.063 [DAT](INFO): DAT read: Range 11 to 50 : 149.1 m  (Round-trip  198.8 ms) speed  0.7 m/s

2025-09-20T00:02:39.063Z,1758326559.063 [DAT](INFO): DAT read: user:677>

2025-09-20T00:02:39.064Z,1758326559.064 [DAT](INFO): DAT read: Tx time:00:02:40.5114

2025-09-20T00:02:39.064Z,1758326559.064 [DAT](INFO): Ping request sent.
2025-09-20T00:02:39.064Z,1758326559.064 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:39.065Z,1758326559.065 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:39.066Z,1758326559.066 [DAT](INFO): direction in FSK: [0.959819,0.205767,0.190809]
2025-09-20T00:02:39.066Z,1758326559.066 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:39.066Z,1758326559.066 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:39.073Z,1758326559.073 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:39.074Z,1758326559.074 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:39.173Z,1758326559.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.100006 m,
      deltaT: 3.531392 s,
      deltaX: -1.799988 m,
      approachRate: -0.509711 m/s,
      rangeRepo size: 4

2025-09-20T00:02:39.175Z,1758326559.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.706940 m,
      bearing: 259.334890 deg,
      lat: 36.779476 deg,
      lon: -121.859711 deg,
      deltaT: 3.531392 s,
      deltaX: -1.795044 m,
      approachRate: -0.508311 m/s,
      posRepo size: 4

2025-09-20T00:02:39.192Z,1758326559.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:39.195Z,1758326559.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 145.749207 m,
      bearing: 260.721678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018827 deg/s,
      cmd heading: 246.988110 deg,
      new cmd heading: 246.968510 deg.

2025-09-20T00:02:39.200Z,1758326559.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310414 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:39.467Z,1758326559.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:39.470Z,1758326559.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 145.588425 m,
      bearing: 260.715889 deg,
      approach rate: -0.546312 m/s,
      LOS rate: -0.019691 deg/s,
      cmd heading: 246.968521 deg,
      new cmd heading: 246.956931 deg.

2025-09-20T00:02:39.471Z,1758326559.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310212 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:39.863Z,1758326559.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:39.865Z,1758326559.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:39.868Z,1758326559.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 145.400085 m,
      bearing: 260.709111 deg,
      approach rate: -0.472833 m/s,
      LOS rate: -0.017038 deg/s,
      cmd heading: 246.956937 deg,
      new cmd heading: 246.943364 deg.

2025-09-20T00:02:39.869Z,1758326559.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309975 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:40.061Z,1758326560.061 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:40.061Z,1758326560.061 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:40.061Z,1758326560.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:40.308Z,1758326560.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:40.311Z,1758326560.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 145.190506 m,
      bearing: 260.701603 deg,
      approach rate: -0.472871 m/s,
      LOS rate: -0.016965 deg/s,
      cmd heading: 246.943358 deg,
      new cmd heading: 246.928321 deg.

2025-09-20T00:02:40.313Z,1758326560.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248528
2025-09-20T00:02:40.336Z,1758326560.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309712 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:40.565Z,1758326560.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500295
2025-09-20T00:02:40.762Z,1758326560.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:40.765Z,1758326560.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 144.967331 m,
      bearing: 260.693554 deg,
      approach rate: -0.491757 m/s,
      LOS rate: -0.017763 deg/s,
      cmd heading: 246.928332 deg,
      new cmd heading: 246.912210 deg.

2025-09-20T00:02:40.766Z,1758326560.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309431 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:40.817Z,1758326560.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752558
2025-09-20T00:02:41.069Z,1758326561.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004750
2025-09-20T00:02:41.191Z,1758326561.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:41.198Z,1758326561.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 144.760605 m,
      bearing: 260.688672 deg,
      approach rate: -0.482514 m/s,
      LOS rate: -0.011412 deg/s,
      cmd heading: 246.912213 deg,
      new cmd heading: 246.902434 deg.

2025-09-20T00:02:41.198Z,1758326561.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309260 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:41.321Z,1758326561.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256395
2025-09-20T00:02:41.569Z,1758326561.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:41.573Z,1758326561.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508556
2025-09-20T00:02:41.574Z,1758326561.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 144.560074 m,
      bearing: 260.683928 deg,
      approach rate: -0.529796 m/s,
      LOS rate: -0.012552 deg/s,
      cmd heading: 246.902432 deg,
      new cmd heading: 246.892930 deg.

2025-09-20T00:02:41.575Z,1758326561.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309094 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:41.826Z,1758326561.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761090
2025-09-20T00:02:41.962Z,1758326561.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:41.964Z,1758326561.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:41.967Z,1758326561.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 144.361664 m,
      bearing: 260.679200 deg,
      approach rate: -0.502521 m/s,
      LOS rate: -0.011990 deg/s,
      cmd heading: 246.892924 deg,
      new cmd heading: 246.883456 deg.

2025-09-20T00:02:41.968Z,1758326561.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308929 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:42.078Z,1758326562.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013367
2025-09-20T00:02:42.329Z,1758326562.329 [DAT](INFO): DAT read: Rx Time:00:02:43.1119

2025-09-20T00:02:42.330Z,1758326562.330 [DAT](INFO): Rx dataTimestamp_ set to:1758326562.329229
2025-09-20T00:02:42.330Z,1758326562.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265559
2025-09-20T00:02:42.402Z,1758326562.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:42.404Z,1758326562.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 144.133682 m,
      bearing: 260.675969 deg,
      approach rate: -0.521116 m/s,
      LOS rate: -0.007398 deg/s,
      cmd heading: 246.883444 deg,
      new cmd heading: 246.876971 deg.

2025-09-20T00:02:42.405Z,1758326562.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308816 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:42.581Z,1758326562.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516313
2025-09-20T00:02:42.786Z,1758326562.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.71 m.
2025-09-20T00:02:42.791Z,1758326562.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.706940 m,
      nav range: 143.937515 m,
      bearing: 260.673180 deg,
      approach rate: -0.510708 m/s,
      LOS rate: -0.007269 deg/s,
      cmd heading: 246.876969 deg,
      new cmd heading: 246.871385 deg.

2025-09-20T00:02:42.793Z,1758326562.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308719 target range: 148.706940 and range: 149.10 m.
2025-09-20T00:02:42.839Z,1758326562.839 [DAT](INFO): DAT read: 00:02:43.1119 LVL= 30256, 32753, 32754, 32755, AGC= 68, IDX= 424,-0.26, 1.604,-0.316, 1.333, 1.223, PHS= 0.483,-1.495, 0.066, RAW= 138.5,  10.5, CAL= 138.0,  11.5, ROT=  12.0, -11.5

2025-09-20T00:02:42.840Z,1758326562.840 [DAT](INFO): got valid direction response:
 00:02:43.1119 LVL= 30256, 32753, 32754, 32755, AGC= 68, IDX= 424,-0.26, 1.604,-0.316, 1.333, 1.223, PHS= 0.483,-1.495, 0.066, RAW= 138.5,  10.5, CAL= 138.0,  11.5, ROT=  12.0, -11.5

2025-09-20T00:02:42.841Z,1758326562.841 [DAT](INFO): DAT read: Bearing  35.9,  13.2 (Local)

2025-09-20T00:02:42.842Z,1758326562.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.9,  13.2 (Local)

2025-09-20T00:02:42.843Z,1758326562.843 [DAT](INFO): DAT read: Range 11 to 50 : 147.2 m  (Round-trip  196.3 ms) speed  0.6 m/s

2025-09-20T00:02:42.844Z,1758326562.844 [DAT](INFO): DAT read: user:678>

2025-09-20T00:02:42.845Z,1758326562.845 [DAT](INFO): DAT read: Tx time:00:02:44.2114

2025-09-20T00:02:42.845Z,1758326562.845 [DAT](INFO): Ping request sent.
2025-09-20T00:02:42.845Z,1758326562.845 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:42.845Z,1758326562.845 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:42.846Z,1758326562.846 [DAT](INFO): direction in FSK: [0.958511,0.203738,0.199368]
2025-09-20T00:02:42.846Z,1758326562.846 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:42.847Z,1758326562.847 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:42.850Z,1758326562.850 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:42.850Z,1758326562.850 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:43.192Z,1758326563.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.199997 m,
      deltaT: 3.780179 s,
      deltaX: -1.900009 m,
      approachRate: -0.502624 m/s,
      rangeRepo size: 4

2025-09-20T00:02:43.194Z,1758326563.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.811722 m,
      bearing: 259.299290 deg,
      lat: 36.779447 deg,
      lon: -121.859707 deg,
      deltaT: 3.780179 s,
      deltaX: -1.895218 m,
      approachRate: -0.501357 m/s,
      posRepo size: 4

2025-09-20T00:02:43.195Z,1758326563.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:43.198Z,1758326563.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 143.963150 m,
      bearing: 259.359373 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007269 deg/s,
      cmd heading: 246.871396 deg,
      new cmd heading: 246.865493 deg.

2025-09-20T00:02:43.199Z,1758326563.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308616 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:43.563Z,1758326563.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:43.565Z,1758326563.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 143.766891 m,
      bearing: 259.355583 deg,
      approach rate: -0.529004 m/s,
      LOS rate: -0.010230 deg/s,
      cmd heading: 246.865494 deg,
      new cmd heading: 246.857904 deg.

2025-09-20T00:02:43.566Z,1758326563.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308483 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:43.963Z,1758326563.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:43.965Z,1758326563.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:43.967Z,1758326563.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 143.557053 m,
      bearing: 259.351543 deg,
      approach rate: -0.521597 m/s,
      LOS rate: -0.010057 deg/s,
      cmd heading: 246.857899 deg,
      new cmd heading: 246.849807 deg.

2025-09-20T00:02:43.969Z,1758326563.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308342 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:44.095Z,1758326564.095 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:44.096Z,1758326564.096 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:44.097Z,1758326564.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:44.345Z,1758326564.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499881
2025-09-20T00:02:44.399Z,1758326564.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:44.401Z,1758326564.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 143.327438 m,
      bearing: 259.346028 deg,
      approach rate: -0.529410 m/s,
      LOS rate: -0.012736 deg/s,
      cmd heading: 246.849812 deg,
      new cmd heading: 246.838765 deg.

2025-09-20T00:02:44.402Z,1758326564.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308149 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:44.597Z,1758326564.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751839
2025-09-20T00:02:44.811Z,1758326564.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:44.818Z,1758326564.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 143.119843 m,
      bearing: 259.341087 deg,
      approach rate: -0.502846 m/s,
      LOS rate: -0.011986 deg/s,
      cmd heading: 246.838775 deg,
      new cmd heading: 246.828878 deg.

2025-09-20T00:02:44.819Z,1758326564.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307977 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:44.849Z,1758326564.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004028
2025-09-20T00:02:45.104Z,1758326565.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258564
2025-09-20T00:02:45.203Z,1758326565.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:45.206Z,1758326565.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 142.901794 m,
      bearing: 259.334894 deg,
      approach rate: -0.556459 m/s,
      LOS rate: -0.015830 deg/s,
      cmd heading: 246.828884 deg,
      new cmd heading: 246.816478 deg.

2025-09-20T00:02:45.207Z,1758326565.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307760 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:45.353Z,1758326565.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507757
2025-09-20T00:02:45.582Z,1758326565.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:45.585Z,1758326565.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 142.701263 m,
      bearing: 259.329211 deg,
      approach rate: -0.529226 m/s,
      LOS rate: -0.015019 deg/s,
      cmd heading: 246.816481 deg,
      new cmd heading: 246.805099 deg.

2025-09-20T00:02:45.586Z,1758326565.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307561 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:45.605Z,1758326565.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759834
2025-09-20T00:02:45.857Z,1758326565.857 [DAT](INFO): DAT read: Rx Time:00:02:46.8093

2025-09-20T00:02:45.858Z,1758326565.858 [DAT](INFO): Rx dataTimestamp_ set to:1758326565.857423
2025-09-20T00:02:45.858Z,1758326565.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013197
2025-09-20T00:02:46.003Z,1758326566.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:46.013Z,1758326566.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:46.016Z,1758326566.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 142.485931 m,
      bearing: 259.323128 deg,
      approach rate: -0.499536 m/s,
      LOS rate: -0.014131 deg/s,
      cmd heading: 246.805088 deg,
      new cmd heading: 246.792906 deg.

2025-09-20T00:02:46.017Z,1758326566.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307349 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:46.112Z,1758326566.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266167
2025-09-20T00:02:46.366Z,1758326566.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520938
2025-09-20T00:02:46.488Z,1758326566.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.81 m.
2025-09-20T00:02:46.491Z,1758326566.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.811722 m,
      nav range: 142.227722 m,
      bearing: 259.314309 deg,
      approach rate: -0.544152 m/s,
      LOS rate: -0.018619 deg/s,
      cmd heading: 246.792903 deg,
      new cmd heading: 246.775233 deg.

2025-09-20T00:02:46.493Z,1758326566.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307040 target range: 146.811722 and range: 147.20 m.
2025-09-20T00:02:46.621Z,1758326566.621 [DAT](INFO): DAT read: 00:02:46.8093 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.34,-2.212, 2.119,-2.495,-2.626, PHS= 0.516,-1.493, 0.087, RAW= 138.3,   9.7, CAL= 137.9,  10.7, ROT=  12.1, -10.7

2025-09-20T00:02:46.622Z,1758326566.622 [DAT](INFO): got valid direction response:
 00:02:46.8093 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.34,-2.212, 2.119,-2.495,-2.626, PHS= 0.516,-1.493, 0.087, RAW= 138.3,   9.7, CAL= 137.9,  10.7, ROT=  12.1, -10.7

2025-09-20T00:02:46.623Z,1758326566.623 [DAT](INFO): DAT read: Bearing  34.9,  13.7 (Local)

2025-09-20T00:02:46.624Z,1758326566.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.9,  13.7 (Local)

2025-09-20T00:02:46.626Z,1758326566.626 [DAT](INFO): DAT read: Range 11 to 50 : 145.3 m  (Round-trip  193.8 ms) speed  0.4 m/s

2025-09-20T00:02:46.627Z,1758326566.627 [DAT](INFO): DAT read: user:679>

2025-09-20T00:02:46.627Z,1758326566.627 [DAT](INFO): DAT read: Tx time:00:02:47.9114

2025-09-20T00:02:46.627Z,1758326566.627 [DAT](INFO): Ping request sent.
2025-09-20T00:02:46.632Z,1758326566.632 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:46.632Z,1758326566.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:46.633Z,1758326566.633 [DAT](INFO): direction in FSK: [0.960782,0.205974,0.185667]
2025-09-20T00:02:46.633Z,1758326566.633 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:46.634Z,1758326566.634 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:46.645Z,1758326566.645 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:46.645Z,1758326566.645 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:46.888Z,1758326566.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.300003 m,
      deltaT: 3.780238 s,
      deltaX: -1.899994 m,
      approachRate: -0.502612 m/s,
      rangeRepo size: 4

2025-09-20T00:02:46.890Z,1758326566.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.916656 m,
      bearing: 259.165065 deg,
      lat: 36.779445 deg,
      lon: -121.859702 deg,
      deltaT: 3.780238 s,
      deltaX: -1.895065 m,
      approachRate: -0.501308 m/s,
      posRepo size: 4

2025-09-20T00:02:46.891Z,1758326566.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.92 m.
2025-09-20T00:02:46.898Z,1758326566.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.916656 m,
      nav range: 141.652222 m,
      bearing: 259.211823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018619 deg/s,
      cmd heading: 246.775226 deg,
      new cmd heading: 246.760495 deg.

2025-09-20T00:02:46.899Z,1758326566.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306783 target range: 144.916656 and range: 145.30 m.
2025-09-20T00:02:47.292Z,1758326567.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.92 m.
2025-09-20T00:02:47.295Z,1758326567.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.916656 m,
      nav range: 141.450577 m,
      bearing: 259.204779 deg,
      approach rate: -0.499426 m/s,
      LOS rate: -0.017473 deg/s,
      cmd heading: 246.760501 deg,
      new cmd heading: 246.746391 deg.

2025-09-20T00:02:47.296Z,1758326567.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306537 target range: 144.916656 and range: 145.30 m.
2025-09-20T00:02:47.646Z,1758326567.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.92 m.
2025-09-20T00:02:47.648Z,1758326567.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.916656 m,
      nav range: 141.254028 m,
      bearing: 259.197936 deg,
      approach rate: -0.548372 m/s,
      LOS rate: -0.019118 deg/s,
      cmd heading: 246.746403 deg,
      new cmd heading: 246.732698 deg.

2025-09-20T00:02:47.649Z,1758326567.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306298 target range: 144.916656 and range: 145.30 m.
2025-09-20T00:02:48.046Z,1758326568.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:48.048Z,1758326568.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.92 m.
2025-09-20T00:02:48.051Z,1758326568.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.916656 m,
      nav range: 141.048492 m,
      bearing: 259.190783 deg,
      approach rate: -0.510058 m/s,
      LOS rate: -0.017776 deg/s,
      cmd heading: 246.732688 deg,
      new cmd heading: 246.718362 deg.

2025-09-20T00:02:48.052Z,1758326568.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306048 target range: 144.916656 and range: 145.30 m.
2025-09-20T00:02:48.128Z,1758326568.128 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:48.128Z,1758326568.128 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:48.129Z,1758326568.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:48.377Z,1758326568.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749426
2025-09-20T00:02:48.483Z,1758326568.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.92 m.
2025-09-20T00:02:48.486Z,1758326568.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.916656 m,
      nav range: 140.821915 m,
      bearing: 259.182526 deg,
      approach rate: -0.521266 m/s,
      LOS rate: -0.019027 deg/s,
      cmd heading: 246.718372 deg,
      new cmd heading: 246.701831 deg.

2025-09-20T00:02:48.487Z,1758326568.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305759 target range: 144.916656 and range: 145.30 m.
2025-09-20T00:02:48.533Z,1758326568.533 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:02:48.629Z,1758326568.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001467
2025-09-20T00:02:48.858Z,1758326568.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.92 m.
2025-09-20T00:02:48.861Z,1758326568.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.916656 m,
      nav range: 140.626541 m,
      bearing: 259.175399 deg,
      approach rate: -0.521109 m/s,
      LOS rate: -0.019036 deg/s,
      cmd heading: 246.701843 deg,
      new cmd heading: 246.687569 deg.

2025-09-20T00:02:48.862Z,1758326568.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305511 target range: 144.916656 and range: 145.30 m.
2025-09-20T00:02:48.881Z,1758326568.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253308
2025-09-20T00:02:49.136Z,1758326569.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507620
2025-09-20T00:02:49.307Z,1758326569.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.92 m.
2025-09-20T00:02:49.310Z,1758326569.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.916656 m,
      nav range: 140.398178 m,
      bearing: 259.166143 deg,
      approach rate: -0.508350 m/s,
      LOS rate: -0.020638 deg/s,
      cmd heading: 246.687581 deg,
      new cmd heading: 246.669039 deg.

2025-09-20T00:02:49.311Z,1758326569.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305187 target range: 144.916656 and range: 145.30 m.
2025-09-20T00:02:49.386Z,1758326569.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757982
2025-09-20T00:02:49.537Z,1758326569.537 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:02:49.637Z,1758326569.637 [DAT](INFO): DAT read: Rx Time:00:02:50.5069

2025-09-20T00:02:49.638Z,1758326569.638 [DAT](INFO): Rx dataTimestamp_ set to:1758326569.637346
2025-09-20T00:02:49.638Z,1758326569.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010525
2025-09-20T00:02:49.706Z,1758326569.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.92 m.
2025-09-20T00:02:49.713Z,1758326569.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.916656 m,
      nav range: 140.199844 m,
      bearing: 259.158084 deg,
      approach rate: -0.498078 m/s,
      LOS rate: -0.020267 deg/s,
      cmd heading: 246.669031 deg,
      new cmd heading: 246.652890 deg.

2025-09-20T00:02:49.714Z,1758326569.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304905 target range: 144.916656 and range: 145.30 m.
2025-09-20T00:02:49.889Z,1758326569.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261212
2025-09-20T00:02:50.171Z,1758326570.171 [DAT](INFO): DAT read: 00:02:50.5069 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 420, 0.46,-2.997, 1.448, 3.020, 2.930, PHS= 0.459,-1.436, 0.046, RAW= 138.1,  10.8, CAL= 137.6,  11.8, ROT=  12.4, -11.8

2025-09-20T00:02:50.179Z,1758326570.179 [DAT](INFO): got valid direction response:
 00:02:50.5069 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 420, 0.46,-2.997, 1.448, 3.020, 2.930, PHS= 0.459,-1.436, 0.046, RAW= 138.1,  10.8, CAL= 137.6,  11.8, ROT=  12.4, -11.8

2025-09-20T00:02:50.197Z,1758326570.197 [DAT](INFO): DAT read: Bearing  35.8,  13.9 (Local)

2025-09-20T00:02:50.197Z,1758326570.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.8,  13.9 (Local)

2025-09-20T00:02:50.199Z,1758326570.199 [DAT](INFO): DAT read: Range 11 to 50 : 143.5 m  (Round-trip  191.4 ms) speed  0.1 m/s

2025-09-20T00:02:50.204Z,1758326570.204 [DAT](INFO): DAT read: user:680>

2025-09-20T00:02:50.205Z,1758326570.205 [DAT](INFO): DAT read: Tx time:00:02:51.6114

2025-09-20T00:02:50.205Z,1758326570.205 [DAT](INFO): Ping request sent.
2025-09-20T00:02:50.205Z,1758326570.205 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:50.205Z,1758326570.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:50.206Z,1758326570.206 [DAT](INFO): direction in FSK: [0.956033,0.210197,0.204496]
2025-09-20T00:02:50.206Z,1758326570.206 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:50.207Z,1758326570.207 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:50.214Z,1758326570.214 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:50.214Z,1758326570.214 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:50.404Z,1758326570.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.500000 m,
      deltaT: 3.529029 s,
      deltaX: -1.800003 m,
      approachRate: -0.510056 m/s,
      rangeRepo size: 4

2025-09-20T00:02:50.406Z,1758326570.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.121719 m,
      bearing: 259.407105 deg,
      lat: 36.779447 deg,
      lon: -121.859701 deg,
      deltaT: 3.529029 s,
      deltaX: -1.794937 m,
      approachRate: -0.508621 m/s,
      posRepo size: 4

2025-09-20T00:02:50.407Z,1758326570.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:50.421Z,1758326570.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 139.697891 m,
      bearing: 259.196960 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020267 deg/s,
      cmd heading: 246.652884 deg,
      new cmd heading: 246.624760 deg.

2025-09-20T00:02:50.422Z,1758326570.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304414 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:50.710Z,1758326570.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:50.717Z,1758326570.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:50.719Z,1758326570.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 139.544876 m,
      bearing: 259.189951 deg,
      approach rate: -0.482311 m/s,
      LOS rate: -0.022119 deg/s,
      cmd heading: 246.624771 deg,
      new cmd heading: 246.610736 deg.

2025-09-20T00:02:50.729Z,1758326570.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304169 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:50.897Z,1758326570.897 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:50.897Z,1758326570.897 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:50.897Z,1758326570.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:51.117Z,1758326571.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:51.125Z,1758326571.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 139.358246 m,
      bearing: 259.181387 deg,
      approach rate: -0.465620 m/s,
      LOS rate: -0.021393 deg/s,
      cmd heading: 246.610728 deg,
      new cmd heading: 246.593579 deg.

2025-09-20T00:02:51.134Z,1758326571.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303870 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:51.153Z,1758326571.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.947849
2025-09-20T00:02:51.402Z,1758326571.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.196753
2025-09-20T00:02:51.538Z,1758326571.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:51.561Z,1758326571.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 139.149887 m,
      bearing: 259.172320 deg,
      approach rate: -0.494914 m/s,
      LOS rate: -0.021571 deg/s,
      cmd heading: 246.593571 deg,
      new cmd heading: 246.575408 deg.

2025-09-20T00:02:51.562Z,1758326571.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303553 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:51.653Z,1758326571.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447857
2025-09-20T00:02:51.910Z,1758326571.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704397
2025-09-20T00:02:52.055Z,1758326572.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:52.058Z,1758326572.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 138.903992 m,
      bearing: 259.161542 deg,
      approach rate: -0.475789 m/s,
      LOS rate: -0.020890 deg/s,
      cmd heading: 246.575402 deg,
      new cmd heading: 246.553810 deg.

2025-09-20T00:02:52.059Z,1758326572.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303176 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:52.160Z,1758326572.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954145
2025-09-20T00:02:52.409Z,1758326572.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203875
2025-09-20T00:02:52.484Z,1758326572.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:52.487Z,1758326572.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 138.691544 m,
      bearing: 259.153753 deg,
      approach rate: -0.495582 m/s,
      LOS rate: -0.018199 deg/s,
      cmd heading: 246.553819 deg,
      new cmd heading: 246.538215 deg.

2025-09-20T00:02:52.504Z,1758326572.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302904 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:52.661Z,1758326572.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456010
2025-09-20T00:02:52.913Z,1758326572.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708052
2025-09-20T00:02:52.956Z,1758326572.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:52.958Z,1758326572.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:52.961Z,1758326572.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 138.456284 m,
      bearing: 259.145091 deg,
      approach rate: -0.495863 m/s,
      LOS rate: -0.018288 deg/s,
      cmd heading: 246.538219 deg,
      new cmd heading: 246.520865 deg.

2025-09-20T00:02:52.962Z,1758326572.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302601 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:53.167Z,1758326573.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962158
2025-09-20T00:02:53.388Z,1758326573.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:53.391Z,1758326573.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 138.249969 m,
      bearing: 259.138070 deg,
      approach rate: -0.484543 m/s,
      LOS rate: -0.016513 deg/s,
      cmd heading: 246.520870 deg,
      new cmd heading: 246.506808 deg.

2025-09-20T00:02:53.396Z,1758326573.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302355 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:53.417Z,1758326573.417 [DAT](INFO): DAT read: Rx Time:00:02:54.2045

2025-09-20T00:02:53.418Z,1758326573.418 [DAT](INFO): Rx dataTimestamp_ set to:1758326573.417463
2025-09-20T00:02:53.418Z,1758326573.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213340
2025-09-20T00:02:53.670Z,1758326573.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.464733
2025-09-20T00:02:53.839Z,1758326573.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.12 m.
2025-09-20T00:02:53.842Z,1758326573.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.121719 m,
      nav range: 138.016159 m,
      bearing: 259.130115 deg,
      approach rate: -0.514296 m/s,
      LOS rate: -0.017528 deg/s,
      cmd heading: 246.506800 deg,
      new cmd heading: 246.490863 deg.

2025-09-20T00:02:53.843Z,1758326573.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302077 target range: 143.121719 and range: 143.50 m.
2025-09-20T00:02:53.927Z,1758326573.927 [DAT](INFO): DAT read: 00:02:54.2045 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.05,-1.305, 3.045,-1.544,-1.685, PHS= 0.482,-1.508, 0.098, RAW= 139.5,  10.2, CAL= 139.0,  11.1, ROT=  11.0, -11.1

2025-09-20T00:02:53.929Z,1758326573.929 [DAT](INFO): got valid direction response:
 00:02:54.2045 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.05,-1.305, 3.045,-1.544,-1.685, PHS= 0.482,-1.508, 0.098, RAW= 139.5,  10.2, CAL= 139.0,  11.1, ROT=  11.0, -11.1

2025-09-20T00:02:53.930Z,1758326573.930 [DAT](INFO): DAT read: Bearing  34.7,  12.4 (Local)

2025-09-20T00:02:53.930Z,1758326573.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.7,  12.4 (Local)

2025-09-20T00:02:53.933Z,1758326573.933 [DAT](INFO): DAT read: Range 11 to 50 : 141.7 m  (Round-trip  189.0 ms) speed  0.8 m/s

2025-09-20T00:02:53.934Z,1758326573.934 [DAT](INFO): DAT read: user:681>

2025-09-20T00:02:53.935Z,1758326573.935 [DAT](INFO): DAT read: Tx time:00:02:55.3129

2025-09-20T00:02:53.936Z,1758326573.936 [DAT](INFO): Ping request sent.
2025-09-20T00:02:53.936Z,1758326573.936 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:53.937Z,1758326573.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:53.938Z,1758326573.938 [DAT](INFO): direction in FSK: [0.963264,0.187239,0.192522]
2025-09-20T00:02:53.938Z,1758326573.938 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:53.939Z,1758326573.939 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:53.950Z,1758326573.950 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:53.950Z,1758326573.950 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:54.308Z,1758326574.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.699997 m,
      deltaT: 3.778601 s,
      deltaX: -1.800003 m,
      approachRate: -0.476368 m/s,
      rangeRepo size: 4

2025-09-20T00:02:54.315Z,1758326574.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.326553 m,
      bearing: 257.977973 deg,
      lat: 36.779445 deg,
      lon: -121.859698 deg,
      deltaT: 3.778601 s,
      deltaX: -1.795166 m,
      approachRate: -0.475087 m/s,
      posRepo size: 4

2025-09-20T00:02:54.315Z,1758326574.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:54.319Z,1758326574.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 137.569565 m,
      bearing: 259.036997 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017528 deg/s,
      cmd heading: 246.490872 deg,
      new cmd heading: 246.474460 deg.

2025-09-20T00:02:54.320Z,1758326574.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301791 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:54.655Z,1758326574.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:54.674Z,1758326574.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 137.388596 m,
      bearing: 259.030960 deg,
      approach rate: -0.520439 m/s,
      LOS rate: -0.017384 deg/s,
      cmd heading: 246.474452 deg,
      new cmd heading: 246.462363 deg.

2025-09-20T00:02:54.675Z,1758326574.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301579 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:55.064Z,1758326575.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:55.066Z,1758326575.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:55.069Z,1758326575.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 137.177765 m,
      bearing: 259.023932 deg,
      approach rate: -0.512758 m/s,
      LOS rate: -0.017118 deg/s,
      cmd heading: 246.462349 deg,
      new cmd heading: 246.448273 deg.

2025-09-20T00:02:55.070Z,1758326575.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301334 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:55.183Z,1758326575.183 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:55.184Z,1758326575.184 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:55.185Z,1758326575.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:55.433Z,1758326575.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497125
2025-09-20T00:02:55.526Z,1758326575.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:55.534Z,1758326575.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 136.949234 m,
      bearing: 259.017003 deg,
      approach rate: -0.497189 m/s,
      LOS rate: -0.015100 deg/s,
      cmd heading: 246.448279 deg,
      new cmd heading: 246.434398 deg.

2025-09-20T00:02:55.535Z,1758326575.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301092 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:55.685Z,1758326575.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749423
2025-09-20T00:02:55.867Z,1758326575.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:55.870Z,1758326575.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 136.772110 m,
      bearing: 259.011616 deg,
      approach rate: -0.517926 m/s,
      LOS rate: -0.015772 deg/s,
      cmd heading: 246.434400 deg,
      new cmd heading: 246.423612 deg.

2025-09-20T00:02:55.871Z,1758326575.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300903 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:55.939Z,1758326575.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003250
2025-09-20T00:02:56.193Z,1758326576.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257165
2025-09-20T00:02:56.346Z,1758326576.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:56.353Z,1758326576.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 136.526917 m,
      bearing: 259.002129 deg,
      approach rate: -0.512729 m/s,
      LOS rate: -0.019875 deg/s,
      cmd heading: 246.423608 deg,
      new cmd heading: 246.404600 deg.

2025-09-20T00:02:56.354Z,1758326576.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300571 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:56.445Z,1758326576.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509215
2025-09-20T00:02:56.677Z,1758326576.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:56.680Z,1758326576.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 136.346710 m,
      bearing: 258.995135 deg,
      approach rate: -0.543642 m/s,
      LOS rate: -0.021129 deg/s,
      cmd heading: 246.404593 deg,
      new cmd heading: 246.390586 deg.

2025-09-20T00:02:56.681Z,1758326576.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300327 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:56.699Z,1758326576.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763212
2025-09-20T00:02:56.949Z,1758326576.949 [DAT](INFO): DAT read: Rx Time:00:02:57.9035

2025-09-20T00:02:56.949Z,1758326576.949 [DAT](INFO): Rx dataTimestamp_ set to:1758326576.949063
2025-09-20T00:02:56.950Z,1758326576.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014189
2025-09-20T00:02:57.075Z,1758326577.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:57.078Z,1758326577.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:57.080Z,1758326577.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 136.139664 m,
      bearing: 258.987126 deg,
      approach rate: -0.517059 m/s,
      LOS rate: -0.020030 deg/s,
      cmd heading: 246.390578 deg,
      new cmd heading: 246.374536 deg.

2025-09-20T00:02:57.081Z,1758326577.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300047 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:57.202Z,1758326577.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266047
2025-09-20T00:02:57.456Z,1758326577.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519880
2025-09-20T00:02:57.567Z,1758326577.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.33 m.
2025-09-20T00:02:57.571Z,1758326577.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.326553 m,
      nav range: 135.884048 m,
      bearing: 258.979438 deg,
      approach rate: -0.521925 m/s,
      LOS rate: -0.015727 deg/s,
      cmd heading: 246.374540 deg,
      new cmd heading: 246.359136 deg.

2025-09-20T00:02:57.573Z,1758326577.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299778 target range: 141.326553 and range: 141.70 m.
2025-09-20T00:02:57.711Z,1758326577.711 [DAT](INFO): DAT read: 00:02:57.9035 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.03,-2.160, 2.219,-2.452,-2.565, PHS= 0.507,-1.454, 0.069, RAW= 137.7,   9.9, CAL= 137.3,  10.9, ROT=  12.7, -10.9

2025-09-20T00:02:57.715Z,1758326577.715 [DAT](INFO): got valid direction response:
 00:02:57.9035 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.03,-2.160, 2.219,-2.452,-2.565, PHS= 0.507,-1.454, 0.069, RAW= 137.7,   9.9, CAL= 137.3,  10.9, ROT=  12.7, -10.9

2025-09-20T00:02:57.717Z,1758326577.717 [DAT](INFO): DAT read: Bearing  34.4,  14.1 (Local)

2025-09-20T00:02:57.717Z,1758326577.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.4,  14.1 (Local)

2025-09-20T00:02:57.719Z,1758326577.719 [DAT](INFO): DAT read: Range 11 to 50 : 139.8 m  (Round-trip  186.4 ms) speed  0.5 m/s

2025-09-20T00:02:57.719Z,1758326577.719 [DAT](INFO): DAT read: user:682>

2025-09-20T00:02:57.720Z,1758326577.720 [DAT](INFO): DAT read: Tx time:00:02:59.0114

2025-09-20T00:02:57.721Z,1758326577.721 [DAT](INFO): Ping request sent.
2025-09-20T00:02:57.721Z,1758326577.721 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:02:57.721Z,1758326577.721 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:02:57.723Z,1758326577.723 [DAT](INFO): direction in FSK: [0.957935,0.215880,0.189095]
2025-09-20T00:02:57.723Z,1758326577.723 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:57.724Z,1758326577.724 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:57.773Z,1758326577.773 [DAT](INFO): publishing transmit ping time
2025-09-20T00:02:57.774Z,1758326577.774 [DAT](INFO): publishing direction and range info
2025-09-20T00:02:57.961Z,1758326577.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.800003 m,
      deltaT: 3.783857 s,
      deltaX: -1.899994 m,
      approachRate: -0.502132 m/s,
      rangeRepo size: 4

2025-09-20T00:02:57.963Z,1758326577.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 139.431961 m,
      bearing: 259.556360 deg,
      lat: 36.779447 deg,
      lon: -121.859698 deg,
      deltaT: 3.783857 s,
      deltaX: -1.894592 m,
      approachRate: -0.500704 m/s,
      posRepo size: 4

2025-09-20T00:02:57.963Z,1758326577.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:02:57.970Z,1758326577.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 135.659149 m,
      bearing: 259.040853 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015727 deg/s,
      cmd heading: 246.359131 deg,
      new cmd heading: 246.346934 deg.

2025-09-20T00:02:57.971Z,1758326577.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299565 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:02:58.411Z,1758326578.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:02:58.414Z,1758326578.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 135.417313 m,
      bearing: 259.032392 deg,
      approach rate: -0.530471 m/s,
      LOS rate: -0.018592 deg/s,
      cmd heading: 246.346946 deg,
      new cmd heading: 246.329995 deg.

2025-09-20T00:02:58.415Z,1758326578.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299270 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:02:58.795Z,1758326578.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:02:58.802Z,1758326578.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 135.230774 m,
      bearing: 259.025885 deg,
      approach rate: -0.485930 m/s,
      LOS rate: -0.016974 deg/s,
      cmd heading: 246.330007 deg,
      new cmd heading: 246.316976 deg.

2025-09-20T00:02:58.803Z,1758326578.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299042 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:02:59.165Z,1758326579.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:02:59.167Z,1758326579.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:02:59.178Z,1758326579.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 135.038116 m,
      bearing: 259.019180 deg,
      approach rate: -0.517693 m/s,
      LOS rate: -0.018043 deg/s,
      cmd heading: 246.316975 deg,
      new cmd heading: 246.303546 deg.

2025-09-20T00:02:59.179Z,1758326579.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298808 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:02:59.218Z,1758326579.218 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:02:59.219Z,1758326579.219 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:02:59.219Z,1758326579.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:02:59.469Z,1758326579.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748245
2025-09-20T00:02:59.578Z,1758326579.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:02:59.581Z,1758326579.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 134.821320 m,
      bearing: 259.010013 deg,
      approach rate: -0.527920 m/s,
      LOS rate: -0.022360 deg/s,
      cmd heading: 246.303534 deg,
      new cmd heading: 246.285169 deg.

2025-09-20T00:02:59.582Z,1758326579.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298487 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:02:59.722Z,1758326579.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000739
2025-09-20T00:02:59.960Z,1758326579.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:02:59.963Z,1758326579.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 134.626587 m,
      bearing: 259.001836 deg,
      approach rate: -0.509663 m/s,
      LOS rate: -0.021431 deg/s,
      cmd heading: 246.285174 deg,
      new cmd heading: 246.268797 deg.

2025-09-20T00:02:59.964Z,1758326579.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298202 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:02:59.973Z,1758326579.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252096
2025-09-20T00:03:00.225Z,1758326580.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504375
2025-09-20T00:03:00.391Z,1758326580.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:03:00.394Z,1758326580.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 134.395798 m,
      bearing: 258.995854 deg,
      approach rate: -0.535261 m/s,
      LOS rate: -0.013897 deg/s,
      cmd heading: 246.268809 deg,
      new cmd heading: 246.256825 deg.

2025-09-20T00:03:00.395Z,1758326580.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297992 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:03:00.478Z,1758326580.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757152
2025-09-20T00:03:00.730Z,1758326580.730 [DAT](INFO): DAT read: Rx Time:00:03:01.5995

2025-09-20T00:03:00.731Z,1758326580.731 [DAT](INFO): Rx dataTimestamp_ set to:1758326580.730502
2025-09-20T00:03:00.733Z,1758326580.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011234
2025-09-20T00:03:00.816Z,1758326580.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:03:00.819Z,1758326580.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 134.170563 m,
      bearing: 258.990070 deg,
      approach rate: -0.529877 m/s,
      LOS rate: -0.013631 deg/s,
      cmd heading: 246.256815 deg,
      new cmd heading: 246.245227 deg.

2025-09-20T00:03:00.820Z,1758326580.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297790 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:03:00.981Z,1758326580.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260053
2025-09-20T00:03:01.218Z,1758326581.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:01.220Z,1758326581.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.43 m.
2025-09-20T00:03:01.223Z,1758326581.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.431961 m,
      nav range: 133.952103 m,
      bearing: 258.984507 deg,
      approach rate: -0.540800 m/s,
      LOS rate: -0.013793 deg/s,
      cmd heading: 246.245231 deg,
      new cmd heading: 246.234088 deg.

2025-09-20T00:03:01.244Z,1758326581.244 [DAT](INFO): DAT read: 00:03:01.5995 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 425,-0.07,-3.067, 1.367, 2.949, 2.852, PHS= 0.466,-1.440, 0.052, RAW= 138.1,  10.6, CAL= 137.6,  11.6, ROT=  12.4, -11.6

2025-09-20T00:03:01.246Z,1758326581.246 [DAT](INFO): got valid direction response:
 00:03:01.5995 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 425,-0.07,-3.067, 1.367, 2.949, 2.852, PHS= 0.466,-1.440, 0.052, RAW= 138.1,  10.6, CAL= 137.6,  11.6, ROT=  12.4, -11.6

2025-09-20T00:03:01.247Z,1758326581.247 [DAT](INFO): DAT read: Bearing  34.9,  13.4 (Local)

2025-09-20T00:03:01.248Z,1758326581.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.9,  13.4 (Local)

2025-09-20T00:03:01.250Z,1758326581.250 [DAT](INFO): DAT read: Range 11 to 50 : 138.0 m  (Round-trip  184.0 ms) speed  0.6 m/s

2025-09-20T00:03:01.251Z,1758326581.251 [DAT](INFO): DAT read: user:683>

2025-09-20T00:03:01.253Z,1758326581.253 [DAT](INFO): DAT read: Tx time:00:03:02.7128

2025-09-20T00:03:01.253Z,1758326581.253 [DAT](INFO): Ping request sent.
2025-09-20T00:03:01.254Z,1758326581.254 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:01.254Z,1758326581.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:01.264Z,1758326581.264 [DAT](INFO): direction in FSK: [0.956724,0.210349,0.201078]
2025-09-20T00:03:01.265Z,1758326581.265 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:01.265Z,1758326581.265 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:01.268Z,1758326581.268 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:01.268Z,1758326581.268 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:01.273Z,1758326581.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297596 target range: 139.431961 and range: 139.80 m.
2025-09-20T00:03:01.677Z,1758326581.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.000000 m,
      deltaT: 3.528704 s,
      deltaX: -1.800003 m,
      approachRate: -0.510103 m/s,
      rangeRepo size: 4

2025-09-20T00:03:01.679Z,1758326581.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.636581 m,
      bearing: 258.867856 deg,
      lat: 36.779444 deg,
      lon: -121.859701 deg,
      deltaT: 3.528704 s,
      deltaX: -1.795380 m,
      approachRate: -0.508793 m/s,
      posRepo size: 4

2025-09-20T00:03:01.679Z,1758326581.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:01.686Z,1758326581.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 134.004700 m,
      bearing: 258.894683 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013793 deg/s,
      cmd heading: 246.234084 deg,
      new cmd heading: 246.221954 deg.

2025-09-20T00:03:01.687Z,1758326581.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297384 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:02.044Z,1758326582.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:02.047Z,1758326582.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 133.799301 m,
      bearing: 258.890607 deg,
      approach rate: -0.534584 m/s,
      LOS rate: -0.010625 deg/s,
      cmd heading: 246.221954 deg,
      new cmd heading: 246.213789 deg.

2025-09-20T00:03:02.048Z,1758326582.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297241 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:02.473Z,1758326582.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:02.476Z,1758326582.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 133.584183 m,
      bearing: 258.885285 deg,
      approach rate: -0.500990 m/s,
      LOS rate: -0.012415 deg/s,
      cmd heading: 246.213785 deg,
      new cmd heading: 246.203123 deg.

2025-09-20T00:03:02.477Z,1758326582.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297055 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:02.861Z,1758326582.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:02.864Z,1758326582.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 133.398514 m,
      bearing: 258.880745 deg,
      approach rate: -0.478602 m/s,
      LOS rate: -0.011719 deg/s,
      cmd heading: 246.203130 deg,
      new cmd heading: 246.194037 deg.

2025-09-20T00:03:02.865Z,1758326582.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296896 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:03.382Z,1758326583.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:03.384Z,1758326583.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:03.387Z,1758326583.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 133.128403 m,
      bearing: 258.874181 deg,
      approach rate: -0.516912 m/s,
      LOS rate: -0.012588 deg/s,
      cmd heading: 246.194032 deg,
      new cmd heading: 246.180877 deg.

2025-09-20T00:03:03.388Z,1758326583.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296667 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:03.501Z,1758326583.501 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:03.501Z,1758326583.501 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:03.501Z,1758326583.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:03.754Z,1758326583.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500085
2025-09-20T00:03:03.765Z,1758326583.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:03.780Z,1758326583.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 132.950714 m,
      bearing: 258.868982 deg,
      approach rate: -0.465796 m/s,
      LOS rate: -0.013645 deg/s,
      cmd heading: 246.180863 deg,
      new cmd heading: 246.170453 deg.

2025-09-20T00:03:03.786Z,1758326583.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296485 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:04.006Z,1758326584.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752248
2025-09-20T00:03:04.130Z,1758326584.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:04.133Z,1758326584.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 132.761154 m,
      bearing: 258.863421 deg,
      approach rate: -0.519647 m/s,
      LOS rate: -0.015267 deg/s,
      cmd heading: 246.170454 deg,
      new cmd heading: 246.159316 deg.

2025-09-20T00:03:04.134Z,1758326584.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296290 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:04.257Z,1758326584.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003371
2025-09-20T00:03:04.509Z,1758326584.509 [DAT](INFO): DAT read: Rx Time:00:03:05.2985

2025-09-20T00:03:04.509Z,1758326584.509 [DAT](INFO): Rx dataTimestamp_ set to:1758326584.509002
2025-09-20T00:03:04.510Z,1758326584.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256200
2025-09-20T00:03:04.573Z,1758326584.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:04.575Z,1758326584.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 132.549484 m,
      bearing: 258.856877 deg,
      approach rate: -0.478484 m/s,
      LOS rate: -0.014817 deg/s,
      cmd heading: 246.159307 deg,
      new cmd heading: 246.146198 deg.

2025-09-20T00:03:04.576Z,1758326584.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296062 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:04.761Z,1758326584.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507304
2025-09-20T00:03:04.931Z,1758326584.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.64 m.
2025-09-20T00:03:04.934Z,1758326584.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.636581 m,
      nav range: 132.378082 m,
      bearing: 258.851537 deg,
      approach rate: -0.478231 m/s,
      LOS rate: -0.014916 deg/s,
      cmd heading: 246.146193 deg,
      new cmd heading: 246.135501 deg.

2025-09-20T00:03:04.935Z,1758326584.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295875 target range: 137.636581 and range: 138.00 m.
2025-09-20T00:03:05.021Z,1758326585.021 [DAT](INFO): DAT read: 00:03:05.2985 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 415,-0.10, 2.586, 0.668, 2.318, 2.204, PHS= 0.483,-1.492, 0.069, RAW= 138.5,  10.4, CAL= 138.0,  11.4, ROT=  12.0, -11.4

2025-09-20T00:03:05.023Z,1758326585.023 [DAT](INFO): got valid direction response:
 00:03:05.2985 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 415,-0.10, 2.586, 0.668, 2.318, 2.204, PHS= 0.483,-1.492, 0.069, RAW= 138.5,  10.4, CAL= 138.0,  11.4, ROT=  12.0, -11.4

2025-09-20T00:03:05.024Z,1758326585.024 [DAT](INFO): DAT read: Bearing  34.5,  12.9 (Local)

2025-09-20T00:03:05.025Z,1758326585.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.5,  12.9 (Local)

2025-09-20T00:03:05.027Z,1758326585.027 [DAT](INFO): DAT read: Range 11 to 50 : 136.1 m  (Round-trip  181.5 ms) speed  0.7 m/s

2025-09-20T00:03:05.027Z,1758326585.027 [DAT](INFO): DAT read: user:684>

2025-09-20T00:03:05.028Z,1758326585.028 [DAT](INFO): DAT read: Tx time:00:03:06.4113

2025-09-20T00:03:05.028Z,1758326585.028 [DAT](INFO): Ping request sent.
2025-09-20T00:03:05.029Z,1758326585.029 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:05.029Z,1758326585.029 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:05.030Z,1758326585.030 [DAT](INFO): direction in FSK: [0.958850,0.203810,0.197657]
2025-09-20T00:03:05.030Z,1758326585.030 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:05.030Z,1758326585.030 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:05.042Z,1758326585.042 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:05.042Z,1758326585.042 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:05.397Z,1758326585.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.100006 m,
      deltaT: 3.779559 s,
      deltaX: -1.899994 m,
      approachRate: -0.502703 m/s,
      rangeRepo size: 4

2025-09-20T00:03:05.399Z,1758326585.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.741699 m,
      bearing: 258.396964 deg,
      lat: 36.779443 deg,
      lon: -121.859703 deg,
      deltaT: 3.779559 s,
      deltaX: -1.894882 m,
      approachRate: -0.501350 m/s,
      posRepo size: 4

2025-09-20T00:03:05.404Z,1758326585.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:05.407Z,1758326585.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 132.376144 m,
      bearing: 258.812076 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014916 deg/s,
      cmd heading: 246.135511 deg,
      new cmd heading: 246.121825 deg.

2025-09-20T00:03:05.412Z,1758326585.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295636 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:05.767Z,1758326585.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:05.769Z,1758326585.769 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:05.769Z,1758326585.769 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:05.769Z,1758326585.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:05.773Z,1758326585.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:05.783Z,1758326585.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 132.174088 m,
      bearing: 258.804916 deg,
      approach rate: -0.526732 m/s,
      LOS rate: -0.018695 deg/s,
      cmd heading: 246.121823 deg,
      new cmd heading: 246.107480 deg.

2025-09-20T00:03:05.785Z,1758326585.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295386 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:06.022Z,1758326586.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993540
2025-09-20T00:03:06.145Z,1758326586.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:06.152Z,1758326586.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 131.987366 m,
      bearing: 258.798297 deg,
      approach rate: -0.502220 m/s,
      LOS rate: -0.017828 deg/s,
      cmd heading: 246.107480 deg,
      new cmd heading: 246.094223 deg.

2025-09-20T00:03:06.153Z,1758326586.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295155 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:06.273Z,1758326586.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244472
2025-09-20T00:03:06.525Z,1758326586.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496396
2025-09-20T00:03:06.580Z,1758326586.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:06.582Z,1758326586.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 131.775711 m,
      bearing: 258.789882 deg,
      approach rate: -0.510589 m/s,
      LOS rate: -0.020333 deg/s,
      cmd heading: 246.094229 deg,
      new cmd heading: 246.077372 deg.

2025-09-20T00:03:06.583Z,1758326586.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294860 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:06.778Z,1758326586.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749406
2025-09-20T00:03:06.943Z,1758326586.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:06.946Z,1758326586.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 131.583313 m,
      bearing: 258.782233 deg,
      approach rate: -0.501806 m/s,
      LOS rate: -0.019978 deg/s,
      cmd heading: 246.077372 deg,
      new cmd heading: 246.062053 deg.

2025-09-20T00:03:06.947Z,1758326586.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294593 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:07.030Z,1758326587.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001411
2025-09-20T00:03:07.281Z,1758326587.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252263
2025-09-20T00:03:07.467Z,1758326587.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:07.470Z,1758326587.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 131.325775 m,
      bearing: 258.769681 deg,
      approach rate: -0.491564 m/s,
      LOS rate: -0.024006 deg/s,
      cmd heading: 246.062045 deg,
      new cmd heading: 246.036892 deg.

2025-09-20T00:03:07.471Z,1758326587.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294154 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:07.533Z,1758326587.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504385
2025-09-20T00:03:07.771Z,1758326587.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:07.774Z,1758326587.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:07.777Z,1758326587.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 131.175003 m,
      bearing: 258.762359 deg,
      approach rate: -0.491431 m/s,
      LOS rate: -0.023893 deg/s,
      cmd heading: 246.036883 deg,
      new cmd heading: 246.022222 deg.

2025-09-20T00:03:07.778Z,1758326587.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293898 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:07.797Z,1758326587.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768279
2025-09-20T00:03:08.049Z,1758326588.049 [DAT](INFO): DAT read: Rx Time:00:03:08.9944

2025-09-20T00:03:08.049Z,1758326588.049 [DAT](INFO): Rx dataTimestamp_ set to:1758326588.049110
2025-09-20T00:03:08.050Z,1758326588.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021299
2025-09-20T00:03:08.169Z,1758326588.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:08.172Z,1758326588.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 130.980179 m,
      bearing: 258.752936 deg,
      approach rate: -0.492554 m/s,
      LOS rate: -0.023857 deg/s,
      cmd heading: 246.022212 deg,
      new cmd heading: 246.003339 deg.

2025-09-20T00:03:08.173Z,1758326588.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293568 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:08.301Z,1758326588.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272184
2025-09-20T00:03:08.556Z,1758326588.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527146
2025-09-20T00:03:08.669Z,1758326588.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.74 m.
2025-09-20T00:03:08.673Z,1758326588.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.741699 m,
      nav range: 130.715576 m,
      bearing: 258.742517 deg,
      approach rate: -0.529334 m/s,
      LOS rate: -0.020885 deg/s,
      cmd heading: 246.003333 deg,
      new cmd heading: 245.982453 deg.

2025-09-20T00:03:08.674Z,1758326588.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293204 target range: 135.741699 and range: 136.10 m.
2025-09-20T00:03:08.810Z,1758326588.810 [DAT](INFO): DAT read: 00:03:08.9944 LVL= 31168, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.36,-2.663, 1.713,-2.962,-3.060, PHS= 0.500,-1.465, 0.054, RAW= 137.5,  10.2, CAL= 137.1,  11.2, ROT=  12.9, -11.2

2025-09-20T00:03:08.811Z,1758326588.811 [DAT](INFO): got valid direction response:
 00:03:08.9944 LVL= 31168, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.36,-2.663, 1.713,-2.962,-3.060, PHS= 0.500,-1.465, 0.054, RAW= 137.5,  10.2, CAL= 137.1,  11.2, ROT=  12.9, -11.2

2025-09-20T00:03:08.813Z,1758326588.813 [DAT](INFO): DAT read: Bearing  34.3,  13.9 (Local)

2025-09-20T00:03:08.813Z,1758326588.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.3,  13.9 (Local)

2025-09-20T00:03:08.814Z,1758326588.814 [DAT](INFO): DAT read: Range 11 to 50 : 134.2 m  (Round-trip  179.0 ms) speed  0.4 m/s

2025-09-20T00:03:08.815Z,1758326588.815 [DAT](INFO): DAT read: user:685>

2025-09-20T00:03:08.816Z,1758326588.816 [DAT](INFO): DAT read: Tx time:00:03:

2025-09-20T00:03:08.817Z,1758326588.817 [DAT](INFO): unknown deviceResponse_: Tx time:00:03:

2025-09-20T00:03:08.817Z,1758326588.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:08.818Z,1758326588.818 [DAT](INFO): direction in FSK: [0.956197,0.218998,0.194234]
2025-09-20T00:03:08.818Z,1758326588.818 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:08.822Z,1758326588.822 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:08.822Z,1758326588.822 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:08.822Z,1758326588.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:09.027Z,1758326589.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.199997 m,
      deltaT: 3.791797 s,
      deltaX: -1.900009 m,
      approachRate: -0.501084 m/s,
      rangeRepo size: 4

2025-09-20T00:03:09.033Z,1758326589.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.846466 m,
      bearing: 259.063912 deg,
      lat: 36.779443 deg,
      lon: -121.859704 deg,
      deltaT: 3.791797 s,
      deltaX: -1.895233 m,
      approachRate: -0.499825 m/s,
      posRepo size: 4

2025-09-20T00:03:09.034Z,1758326589.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:09.041Z,1758326589.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 130.615860 m,
      bearing: 258.742402 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020885 deg/s,
      cmd heading: 245.982460 deg,
      new cmd heading: 245.967536 deg.

2025-09-20T00:03:09.042Z,1758326589.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292943 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:09.057Z,1758326589.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028345
2025-09-20T00:03:09.309Z,1758326589.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280493
2025-09-20T00:03:09.427Z,1758326589.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:09.449Z,1758326589.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 130.418976 m,
      bearing: 258.734749 deg,
      approach rate: -0.493617 m/s,
      LOS rate: -0.019216 deg/s,
      cmd heading: 245.967543 deg,
      new cmd heading: 245.952214 deg.

2025-09-20T00:03:09.455Z,1758326589.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292676 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:09.562Z,1758326589.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532855
2025-09-20T00:03:09.825Z,1758326589.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.796256
2025-09-20T00:03:09.837Z,1758326589.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:09.839Z,1758326589.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:09.846Z,1758326589.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 130.183533 m,
      bearing: 258.725374 deg,
      approach rate: -0.569392 m/s,
      LOS rate: -0.022713 deg/s,
      cmd heading: 245.952216 deg,
      new cmd heading: 245.933432 deg.

2025-09-20T00:03:09.847Z,1758326589.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292348 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:10.078Z,1758326590.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.048686
2025-09-20T00:03:10.201Z,1758326590.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:10.204Z,1758326590.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 129.978683 m,
      bearing: 258.717291 deg,
      approach rate: -0.565268 m/s,
      LOS rate: -0.022339 deg/s,
      cmd heading: 245.933419 deg,
      new cmd heading: 245.917229 deg.

2025-09-20T00:03:10.205Z,1758326590.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292065 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:10.332Z,1758326590.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.303144
2025-09-20T00:03:10.581Z,1758326590.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.552280
2025-09-20T00:03:10.643Z,1758326590.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:10.646Z,1758326590.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 129.744507 m,
      bearing: 258.708780 deg,
      approach rate: -0.529967 m/s,
      LOS rate: -0.019297 deg/s,
      cmd heading: 245.917218 deg,
      new cmd heading: 245.900165 deg.

2025-09-20T00:03:10.647Z,1758326590.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291768 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:10.833Z,1758326590.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804237
2025-09-20T00:03:11.011Z,1758326591.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:11.014Z,1758326591.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 129.549316 m,
      bearing: 258.701708 deg,
      approach rate: -0.530216 m/s,
      LOS rate: -0.019240 deg/s,
      cmd heading: 245.900170 deg,
      new cmd heading: 245.886004 deg.

2025-09-20T00:03:11.015Z,1758326591.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291521 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:11.085Z,1758326591.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.056696
2025-09-20T00:03:11.337Z,1758326591.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.308214
2025-09-20T00:03:11.416Z,1758326591.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:11.419Z,1758326591.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 129.337021 m,
      bearing: 258.694002 deg,
      approach rate: -0.523879 m/s,
      LOS rate: -0.019047 deg/s,
      cmd heading: 245.886018 deg,
      new cmd heading: 245.870581 deg.

2025-09-20T00:03:11.438Z,1758326591.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291251 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:11.589Z,1758326591.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560646
2025-09-20T00:03:11.841Z,1758326591.841 [DAT](INFO): DAT read: Rx Time:00:03:12.6920

2025-09-20T00:03:11.841Z,1758326591.841 [DAT](INFO): Rx dataTimestamp_ set to:1758326591.841219
2025-09-20T00:03:11.842Z,1758326591.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813400
2025-09-20T00:03:11.858Z,1758326591.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:11.860Z,1758326591.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:11.863Z,1758326591.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 129.103409 m,
      bearing: 258.687281 deg,
      approach rate: -0.526906 m/s,
      LOS rate: -0.015186 deg/s,
      cmd heading: 245.870582 deg,
      new cmd heading: 245.857116 deg.

2025-09-20T00:03:11.864Z,1758326591.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291016 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:12.093Z,1758326592.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.064300
2025-09-20T00:03:12.270Z,1758326592.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-09-20T00:03:12.293Z,1758326592.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.846466 m,
      nav range: 128.910858 m,
      bearing: 258.681784 deg,
      approach rate: -0.471011 m/s,
      LOS rate: -0.013466 deg/s,
      cmd heading: 245.857112 deg,
      new cmd heading: 245.846103 deg.

2025-09-20T00:03:12.294Z,1758326592.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290824 target range: 133.846466 and range: 134.20 m.
2025-09-20T00:03:12.354Z,1758326592.354 [DAT](INFO): DAT read: 00:03:12.6920 LVL= 26480, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.10,-1.049,-2.941,-1.346,-1.451, PHS= 0.504,-1.445, 0.061, RAW= 137.5,  10.0, CAL= 137.1,  11.0, ROT=  12.9, -11.0

2025-09-20T00:03:12.356Z,1758326592.356 [DAT](INFO): got valid direction response:
 00:03:12.6920 LVL= 26480, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.10,-1.049,-2.941,-1.346,-1.451, PHS= 0.504,-1.445, 0.061, RAW= 137.5,  10.0, CAL= 137.1,  11.0, ROT=  12.9, -11.0

2025-09-20T00:03:12.358Z,1758326592.358 [DAT](INFO): DAT read: Bearing  33.9,  13.9 (Local)

2025-09-20T00:03:12.358Z,1758326592.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.9,  13.9 (Local)

2025-09-20T00:03:12.388Z,1758326592.388 [DAT](INFO): DAT read: Range 11 to 50 : 132.4 m  (Round-trip  176.6 ms) speed  0.4 m/s

2025-09-20T00:03:12.390Z,1758326592.390 [DAT](INFO): DAT read: user:686>

2025-09-20T00:03:12.391Z,1758326592.391 [DAT](INFO): DAT read: Tx time:00:03:13.8113

2025-09-20T00:03:12.391Z,1758326592.391 [DAT](INFO): Ping request sent.
2025-09-20T00:03:12.391Z,1758326592.391 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:12.391Z,1758326592.391 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:12.397Z,1758326592.397 [DAT](INFO): direction in FSK: [0.956852,0.219148,0.190809]
2025-09-20T00:03:12.397Z,1758326592.397 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:12.397Z,1758326592.397 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:12.404Z,1758326592.404 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:12.405Z,1758326592.405 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:12.693Z,1758326592.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.399994 m,
      deltaT: 3.540534 s,
      deltaX: -1.800003 m,
      approachRate: -0.508399 m/s,
      rangeRepo size: 4

2025-09-20T00:03:12.695Z,1758326592.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 132.051270 m,
      bearing: 258.784370 deg,
      lat: 36.779445 deg,
      lon: -121.859707 deg,
      deltaT: 3.540534 s,
      deltaX: -1.795197 m,
      approachRate: -0.507041 m/s,
      posRepo size: 4

2025-09-20T00:03:12.695Z,1758326592.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:12.702Z,1758326592.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 128.945587 m,
      bearing: 258.771451 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013466 deg/s,
      cmd heading: 245.846102 deg,
      new cmd heading: 245.834817 deg.

2025-09-20T00:03:12.703Z,1758326592.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290627 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:13.032Z,1758326593.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:13.035Z,1758326593.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 128.761780 m,
      bearing: 258.768492 deg,
      approach rate: -0.533624 m/s,
      LOS rate: -0.008603 deg/s,
      cmd heading: 245.834819 deg,
      new cmd heading: 245.828892 deg.

2025-09-20T00:03:13.036Z,1758326593.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290524 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:13.454Z,1758326593.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:13.477Z,1758326593.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 128.557922 m,
      bearing: 258.765204 deg,
      approach rate: -0.484599 m/s,
      LOS rate: -0.007830 deg/s,
      cmd heading: 245.828890 deg,
      new cmd heading: 245.822302 deg.

2025-09-20T00:03:13.485Z,1758326593.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290409 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:13.891Z,1758326593.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:13.893Z,1758326593.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:13.897Z,1758326593.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 128.338455 m,
      bearing: 258.760680 deg,
      approach rate: -0.498239 m/s,
      LOS rate: -0.010288 deg/s,
      cmd heading: 245.822306 deg,
      new cmd heading: 245.813243 deg.

2025-09-20T00:03:13.898Z,1758326593.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290250 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:14.110Z,1758326594.110 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:14.110Z,1758326594.110 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:14.110Z,1758326594.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:14.254Z,1758326594.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:14.280Z,1758326594.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 128.166336 m,
      bearing: 258.757101 deg,
      approach rate: -0.477536 m/s,
      LOS rate: -0.009943 deg/s,
      cmd heading: 245.813235 deg,
      new cmd heading: 245.806067 deg.

2025-09-20T00:03:14.281Z,1758326594.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290125 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:14.362Z,1758326594.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970290
2025-09-20T00:03:14.613Z,1758326594.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221714
2025-09-20T00:03:14.691Z,1758326594.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:14.698Z,1758326594.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 127.958862 m,
      bearing: 258.753015 deg,
      approach rate: -0.474244 m/s,
      LOS rate: -0.009354 deg/s,
      cmd heading: 245.806077 deg,
      new cmd heading: 245.797893 deg.

2025-09-20T00:03:14.699Z,1758326594.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289982 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:14.865Z,1758326594.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473911
2025-09-20T00:03:15.078Z,1758326595.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:15.081Z,1758326595.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 127.760574 m,
      bearing: 258.749064 deg,
      approach rate: -0.512885 m/s,
      LOS rate: -0.010236 deg/s,
      cmd heading: 245.797881 deg,
      new cmd heading: 245.789966 deg.

2025-09-20T00:03:15.082Z,1758326595.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289844 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:15.117Z,1758326595.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725900
2025-09-20T00:03:15.370Z,1758326595.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978497
2025-09-20T00:03:15.507Z,1758326595.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:15.548Z,1758326595.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 127.559074 m,
      bearing: 258.744980 deg,
      approach rate: -0.470416 m/s,
      LOS rate: -0.009548 deg/s,
      cmd heading: 245.789958 deg,
      new cmd heading: 245.781778 deg.

2025-09-20T00:03:15.549Z,1758326595.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289701 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:15.621Z,1758326595.621 [DAT](INFO): DAT read: Rx Time:00:03:16.3894

2025-09-20T00:03:15.622Z,1758326595.622 [DAT](INFO): Rx dataTimestamp_ set to:1758326595.621249
2025-09-20T00:03:15.622Z,1758326595.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231036
2025-09-20T00:03:15.873Z,1758326595.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481779
2025-09-20T00:03:15.916Z,1758326595.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:15.918Z,1758326595.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.05 m.
2025-09-20T00:03:15.921Z,1758326595.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.051270 m,
      nav range: 127.345222 m,
      bearing: 258.740271 deg,
      approach rate: -0.519241 m/s,
      LOS rate: -0.011452 deg/s,
      cmd heading: 245.781789 deg,
      new cmd heading: 245.772356 deg.

2025-09-20T00:03:15.922Z,1758326595.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289537 target range: 132.051270 and range: 132.40 m.
2025-09-20T00:03:16.131Z,1758326596.131 [DAT](INFO): DAT read: 00:03:16.3894 LVL= 32672, 32753, 32754, 32755, AGC= 72, IDX= 418, 0.22,-2.058, 2.214,-2.373,-2.482, PHS= 0.526,-1.542, 0.065, RAW= 137.7,  10.1, CAL= 137.3,  11.1, ROT=  12.7, -11.1

2025-09-20T00:03:16.132Z,1758326596.132 [DAT](INFO): got valid direction response:
 00:03:16.3894 LVL= 32672, 32753, 32754, 32755, AGC= 72, IDX= 418, 0.22,-2.058, 2.214,-2.373,-2.482, PHS= 0.526,-1.542, 0.065, RAW= 137.7,  10.1, CAL= 137.3,  11.1, ROT=  12.7, -11.1

2025-09-20T00:03:16.133Z,1758326596.133 [DAT](INFO): DAT read: Bearing  33.9,  13.6 (Local)

2025-09-20T00:03:16.133Z,1758326596.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.9,  13.6 (Local)

2025-09-20T00:03:16.135Z,1758326596.135 [DAT](INFO): DAT read: Range 11 to 50 : 130.5 m  (Round-trip  174.0 ms) speed  0.3 m/s

2025-09-20T00:03:16.136Z,1758326596.136 [DAT](INFO): DAT read: user:687>

2025-09-20T00:03:16.136Z,1758326596.136 [DAT](INFO): DAT read: Tx time:00:03:17.5113

2025-09-20T00:03:16.137Z,1758326596.137 [DAT](INFO): Ping request sent.
2025-09-20T00:03:16.137Z,1758326596.137 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:16.137Z,1758326596.137 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:16.138Z,1758326596.138 [DAT](INFO): direction in FSK: [0.957285,0.215733,0.192522]
2025-09-20T00:03:16.138Z,1758326596.138 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:16.138Z,1758326596.138 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:16.142Z,1758326596.142 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:16.142Z,1758326596.142 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:16.381Z,1758326596.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.500000 m,
      deltaT: 3.779821 s,
      deltaX: -1.899994 m,
      approachRate: -0.502668 m/s,
      rangeRepo size: 4

2025-09-20T00:03:16.383Z,1758326596.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.156067 m,
      bearing: 258.674906 deg,
      lat: 36.779443 deg,
      lon: -121.859707 deg,
      deltaT: 3.779821 s,
      deltaX: -1.895203 m,
      approachRate: -0.501400 m/s,
      posRepo size: 4

2025-09-20T00:03:16.385Z,1758326596.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:16.387Z,1758326596.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 127.148308 m,
      bearing: 258.666660 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011452 deg/s,
      cmd heading: 245.772363 deg,
      new cmd heading: 245.761781 deg.

2025-09-20T00:03:16.388Z,1758326596.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289352 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:16.772Z,1758326596.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:16.775Z,1758326596.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 126.945786 m,
      bearing: 258.661405 deg,
      approach rate: -0.516653 m/s,
      LOS rate: -0.013428 deg/s,
      cmd heading: 245.761790 deg,
      new cmd heading: 245.751263 deg.

2025-09-20T00:03:16.776Z,1758326596.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289169 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:17.117Z,1758326597.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:17.119Z,1758326597.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 126.770287 m,
      bearing: 258.656833 deg,
      approach rate: -0.508969 m/s,
      LOS rate: -0.013278 deg/s,
      cmd heading: 245.751272 deg,
      new cmd heading: 245.742115 deg.

2025-09-20T00:03:17.121Z,1758326597.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289009 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:17.585Z,1758326597.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:17.592Z,1758326597.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 126.562134 m,
      bearing: 258.651397 deg,
      approach rate: -0.444311 m/s,
      LOS rate: -0.011622 deg/s,
      cmd heading: 245.742119 deg,
      new cmd heading: 245.731230 deg.

2025-09-20T00:03:17.593Z,1758326597.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288819 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:17.982Z,1758326597.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:17.985Z,1758326597.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:17.987Z,1758326597.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 126.328941 m,
      bearing: 258.644056 deg,
      approach rate: -0.583835 m/s,
      LOS rate: -0.018413 deg/s,
      cmd heading: 245.731218 deg,
      new cmd heading: 245.716510 deg.

2025-09-20T00:03:17.989Z,1758326597.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288562 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:18.141Z,1758326598.141 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:18.141Z,1758326598.141 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:18.141Z,1758326598.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:18.358Z,1758326598.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:18.361Z,1758326598.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 126.149811 m,
      bearing: 258.638422 deg,
      approach rate: -0.480493 m/s,
      LOS rate: -0.015135 deg/s,
      cmd heading: 245.716520 deg,
      new cmd heading: 245.705235 deg.

2025-09-20T00:03:18.362Z,1758326598.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288365 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:18.402Z,1758326598.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265308
2025-09-20T00:03:18.653Z,1758326598.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516163
2025-09-20T00:03:18.791Z,1758326598.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:18.794Z,1758326598.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 125.923935 m,
      bearing: 258.629597 deg,
      approach rate: -0.521474 m/s,
      LOS rate: -0.020409 deg/s,
      cmd heading: 245.705236 deg,
      new cmd heading: 245.687556 deg.

2025-09-20T00:03:18.795Z,1758326598.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288057 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:18.905Z,1758326598.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768172
2025-09-20T00:03:19.157Z,1758326599.157 [DAT](INFO): DAT read: Rx Time:00:03:20.0871

2025-09-20T00:03:19.157Z,1758326599.157 [DAT](INFO): Rx dataTimestamp_ set to:1758326599.157146
2025-09-20T00:03:19.158Z,1758326599.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021238
2025-09-20T00:03:19.181Z,1758326599.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:19.183Z,1758326599.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 125.735832 m,
      bearing: 258.622311 deg,
      approach rate: -0.482348 m/s,
      LOS rate: -0.018712 deg/s,
      cmd heading: 245.687560 deg,
      new cmd heading: 245.672966 deg.

2025-09-20T00:03:19.188Z,1758326599.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287802 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:19.410Z,1758326599.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273351
2025-09-20T00:03:19.617Z,1758326599.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.16 m.
2025-09-20T00:03:19.625Z,1758326599.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.156067 m,
      nav range: 125.529922 m,
      bearing: 258.614320 deg,
      approach rate: -0.471488 m/s,
      LOS rate: -0.018328 deg/s,
      cmd heading: 245.672971 deg,
      new cmd heading: 245.656962 deg.

2025-09-20T00:03:19.633Z,1758326599.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287523 target range: 130.156067 and range: 130.50 m.
2025-09-20T00:03:19.664Z,1758326599.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526699
2025-09-20T00:03:19.667Z,1758326599.667 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:03:19.919Z,1758326599.919 [DAT](INFO): DAT read: 00:03:20.0871 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.22,-0.185,-2.143,-0.493,-0.620, PHS= 0.538,-1.478, 0.084, RAW= 137.6,   9.4, CAL= 137.2,  10.4, ROT=  12.8, -10.4

2025-09-20T00:03:19.920Z,1758326599.920 [DAT](INFO): got valid direction response:
 00:03:20.0871 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.22,-0.185,-2.143,-0.493,-0.620, PHS= 0.538,-1.478, 0.084, RAW= 137.6,   9.4, CAL= 137.2,  10.4, ROT=  12.8, -10.4

2025-09-20T00:03:19.922Z,1758326599.922 [DAT](INFO): DAT read: Bearing  33.1,  13.4 (Local)

2025-09-20T00:03:19.922Z,1758326599.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.1,  13.4 (Local)

2025-09-20T00:03:19.926Z,1758326599.926 [DAT](INFO): DAT read: Range 11 to 50 : 128.7 m  (Round-trip  171.6 ms) speed  0.5 m/s

2025-09-20T00:03:19.927Z,1758326599.927 [DAT](INFO): DAT read: user:688>

2025-09-20T00:03:19.928Z,1758326599.928 [DAT](INFO): DAT read: Tx time:00:03:21.2113

2025-09-20T00:03:19.929Z,1758326599.929 [DAT](INFO): Ping request sent.
2025-09-20T00:03:19.929Z,1758326599.929 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:19.929Z,1758326599.929 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:19.930Z,1758326599.930 [DAT](INFO): direction in FSK: [0.959129,0.217909,0.180519]
2025-09-20T00:03:19.930Z,1758326599.930 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:19.931Z,1758326599.931 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:19.934Z,1758326599.934 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:19.934Z,1758326599.934 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:20.108Z,1758326600.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.699997 m,
      deltaT: 3.788473 s,
      deltaX: -1.800003 m,
      approachRate: -0.475126 m/s,
      rangeRepo size: 4

2025-09-20T00:03:20.110Z,1758326600.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.360489 m,
      bearing: 258.602851 deg,
      lat: 36.779443 deg,
      lon: -121.859708 deg,
      deltaT: 3.788473 s,
      deltaX: -1.795578 m,
      approachRate: -0.473958 m/s,
      posRepo size: 4

2025-09-20T00:03:20.111Z,1758326600.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:20.118Z,1758326600.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 125.387260 m,
      bearing: 258.612881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018328 deg/s,
      cmd heading: 245.656961 deg,
      new cmd heading: 245.639296 deg.

2025-09-20T00:03:20.119Z,1758326600.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287214 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:20.521Z,1758326600.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:20.523Z,1758326600.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:20.526Z,1758326600.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 125.171234 m,
      bearing: 258.604180 deg,
      approach rate: -0.509189 m/s,
      LOS rate: -0.020544 deg/s,
      cmd heading: 245.639284 deg,
      new cmd heading: 245.621852 deg.

2025-09-20T00:03:20.527Z,1758326600.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286910 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:20.669Z,1758326600.669 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:20.669Z,1758326600.669 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:20.669Z,1758326600.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:20.672Z,1758326600.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:03:20.909Z,1758326600.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:20.911Z,1758326600.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 124.983345 m,
      bearing: 258.596802 deg,
      approach rate: -0.487660 m/s,
      LOS rate: -0.019178 deg/s,
      cmd heading: 245.621853 deg,
      new cmd heading: 245.607075 deg.

2025-09-20T00:03:20.917Z,1758326600.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286652 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:20.921Z,1758326600.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992324
2025-09-20T00:03:21.173Z,1758326601.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244393
2025-09-20T00:03:21.288Z,1758326601.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:21.291Z,1758326601.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 124.784050 m,
      bearing: 258.588944 deg,
      approach rate: -0.525417 m/s,
      LOS rate: -0.020750 deg/s,
      cmd heading: 245.607073 deg,
      new cmd heading: 245.591332 deg.

2025-09-20T00:03:21.292Z,1758326601.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286377 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:21.425Z,1758326601.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496234
2025-09-20T00:03:21.677Z,1758326601.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748254
2025-09-20T00:03:21.767Z,1758326601.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:21.774Z,1758326601.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 124.550941 m,
      bearing: 258.581982 deg,
      approach rate: -0.487046 m/s,
      LOS rate: -0.014573 deg/s,
      cmd heading: 245.591336 deg,
      new cmd heading: 245.577387 deg.

2025-09-20T00:03:21.775Z,1758326601.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286134 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:21.929Z,1758326601.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000122
2025-09-20T00:03:22.127Z,1758326602.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:22.130Z,1758326602.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 124.363350 m,
      bearing: 258.576367 deg,
      approach rate: -0.521041 m/s,
      LOS rate: -0.015621 deg/s,
      cmd heading: 245.577375 deg,
      new cmd heading: 245.566127 deg.

2025-09-20T00:03:22.131Z,1758326602.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285937 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:22.182Z,1758326602.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253099
2025-09-20T00:03:22.433Z,1758326602.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504189
2025-09-20T00:03:22.525Z,1758326602.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:22.527Z,1758326602.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:22.531Z,1758326602.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 124.161819 m,
      bearing: 258.570283 deg,
      approach rate: -0.503528 m/s,
      LOS rate: -0.015226 deg/s,
      cmd heading: 245.566119 deg,
      new cmd heading: 245.553931 deg.

2025-09-20T00:03:22.533Z,1758326602.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285725 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:22.685Z,1758326602.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756050
2025-09-20T00:03:22.937Z,1758326602.937 [DAT](INFO): DAT read: Rx Time:00:03:23.7845

2025-09-20T00:03:22.937Z,1758326602.937 [DAT](INFO): Rx dataTimestamp_ set to:1758326602.937180
2025-09-20T00:03:22.938Z,1758326602.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009144
2025-09-20T00:03:22.978Z,1758326602.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:22.985Z,1758326602.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 123.950584 m,
      bearing: 258.564464 deg,
      approach rate: -0.468467 m/s,
      LOS rate: -0.012927 deg/s,
      cmd heading: 245.553934 deg,
      new cmd heading: 245.542276 deg.

2025-09-20T00:03:22.986Z,1758326602.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285521 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:23.191Z,1758326603.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261366
2025-09-20T00:03:23.392Z,1758326603.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.36 m.
2025-09-20T00:03:23.395Z,1758326603.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.360489 m,
      nav range: 123.767471 m,
      bearing: 258.559385 deg,
      approach rate: -0.441697 m/s,
      LOS rate: -0.012270 deg/s,
      cmd heading: 245.542268 deg,
      new cmd heading: 245.532095 deg.

2025-09-20T00:03:23.401Z,1758326603.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285344 target range: 128.360489 and range: 128.70 m.
2025-09-20T00:03:23.447Z,1758326603.447 [DAT](INFO): DAT read: 00:03:23.7845 LVL= 30224, 32753, 32754, 32755, AGC= 71, IDX= 417,-0.23, 2.175, 0.182, 1.848, 1.768, PHS= 0.509,-1.541, 0.036, RAW= 137.3,  10.7, CAL= 136.8,  11.8, ROT=  13.2, -11.8

2025-09-20T00:03:23.448Z,1758326603.448 [DAT](INFO): got valid direction response:
 00:03:23.7845 LVL= 30224, 32753, 32754, 32755, AGC= 71, IDX= 417,-0.23, 2.175, 0.182, 1.848, 1.768, PHS= 0.509,-1.541, 0.036, RAW= 137.3,  10.7, CAL= 136.8,  11.8, ROT=  13.2, -11.8

2025-09-20T00:03:23.449Z,1758326603.449 [DAT](INFO): DAT read: Bearing  34.5,  13.5 (Local)

2025-09-20T00:03:23.449Z,1758326603.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.5,  13.5 (Local)

2025-09-20T00:03:23.451Z,1758326603.451 [DAT](INFO): DAT read: Range 11 to 50 : 126.8 m  (Round-trip  169.1 ms) speed  0.3 m/s

2025-09-20T00:03:23.451Z,1758326603.451 [DAT](INFO): DAT read: user:689>

2025-09-20T00:03:23.452Z,1758326603.452 [DAT](INFO): DAT read: Tx time:00:03:24.9113

2025-09-20T00:03:23.452Z,1758326603.452 [DAT](INFO): Ping request sent.
2025-09-20T00:03:23.453Z,1758326603.453 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:23.453Z,1758326603.453 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:23.454Z,1758326603.454 [DAT](INFO): direction in FSK: [0.953005,0.223525,0.204496]
2025-09-20T00:03:23.454Z,1758326603.454 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:23.454Z,1758326603.454 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:23.465Z,1758326603.465 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:23.465Z,1758326603.465 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:23.765Z,1758326603.765 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  82.72,  77.28,  80.68,  :WI,-32768,-32768,-32768,-32768,V
2025-09-20T00:03:23.814Z,1758326603.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.800003 m,
      deltaT: 3.527242 s,
      deltaX: -1.899994 m,
      approachRate: -0.538663 m/s,
      rangeRepo size: 4

2025-09-20T00:03:23.816Z,1758326603.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.465668 m,
      bearing: 259.094720 deg,
      lat: 36.779445 deg,
      lon: -121.859709 deg,
      deltaT: 3.527242 s,
      deltaX: -1.894821 m,
      approachRate: -0.537196 m/s,
      posRepo size: 4

2025-09-20T00:03:23.820Z,1758326603.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:23.823Z,1758326603.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 123.549316 m,
      bearing: 258.628763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012270 deg/s,
      cmd heading: 245.532105 deg,
      new cmd heading: 245.521786 deg.

2025-09-20T00:03:23.828Z,1758326603.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285163 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:24.141Z,1758326604.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:24.143Z,1758326604.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 123.379257 m,
      bearing: 258.624095 deg,
      approach rate: -0.518642 m/s,
      LOS rate: -0.014256 deg/s,
      cmd heading: 245.521777 deg,
      new cmd heading: 245.512429 deg.

2025-09-20T00:03:24.146Z,1758326604.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285000 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:24.542Z,1758326604.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:24.545Z,1758326604.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:24.547Z,1758326604.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 123.181992 m,
      bearing: 258.618632 deg,
      approach rate: -0.488459 m/s,
      LOS rate: -0.013548 deg/s,
      cmd heading: 245.512434 deg,
      new cmd heading: 245.501491 deg.

2025-09-20T00:03:24.550Z,1758326604.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284809 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:24.701Z,1758326604.701 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:24.701Z,1758326604.701 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:24.702Z,1758326604.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:24.953Z,1758326604.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500357
2025-09-20T00:03:24.974Z,1758326604.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:24.993Z,1758326604.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 122.960754 m,
      bearing: 258.616732 deg,
      approach rate: -0.515405 m/s,
      LOS rate: -0.004434 deg/s,
      cmd heading: 245.501478 deg,
      new cmd heading: 245.497672 deg.

2025-09-20T00:03:24.994Z,1758326604.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284743 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:25.206Z,1758326605.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753447
2025-09-20T00:03:25.354Z,1758326605.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:25.359Z,1758326605.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 122.765076 m,
      bearing: 258.615029 deg,
      approach rate: -0.514776 m/s,
      LOS rate: -0.004488 deg/s,
      cmd heading: 245.497681 deg,
      new cmd heading: 245.494268 deg.

2025-09-20T00:03:25.360Z,1758326605.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284683 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:25.457Z,1758326605.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004448
2025-09-20T00:03:25.710Z,1758326605.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256903
2025-09-20T00:03:25.822Z,1758326605.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:25.829Z,1758326605.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 122.543610 m,
      bearing: 258.610704 deg,
      approach rate: -0.473402 m/s,
      LOS rate: -0.009261 deg/s,
      cmd heading: 245.494265 deg,
      new cmd heading: 245.485601 deg.

2025-09-20T00:03:25.830Z,1758326605.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284532 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:25.961Z,1758326605.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508420
2025-09-20T00:03:26.175Z,1758326606.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:26.178Z,1758326606.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 122.361992 m,
      bearing: 258.607155 deg,
      approach rate: -0.513638 m/s,
      LOS rate: -0.010051 deg/s,
      cmd heading: 245.485605 deg,
      new cmd heading: 245.478497 deg.

2025-09-20T00:03:26.179Z,1758326606.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284408 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:26.214Z,1758326606.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761898
2025-09-20T00:03:26.465Z,1758326606.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012293
2025-09-20T00:03:26.623Z,1758326606.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:26.629Z,1758326606.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:26.632Z,1758326606.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 122.138298 m,
      bearing: 258.602770 deg,
      approach rate: -0.493082 m/s,
      LOS rate: -0.009685 deg/s,
      cmd heading: 245.478501 deg,
      new cmd heading: 245.469714 deg.

2025-09-20T00:03:26.633Z,1758326606.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284255 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:26.721Z,1758326606.721 [DAT](INFO): DAT read: Rx Time:00:03:27.4822

2025-09-20T00:03:26.723Z,1758326606.723 [DAT](INFO): Rx dataTimestamp_ set to:1758326606.721680
2025-09-20T00:03:26.725Z,1758326606.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272163
2025-09-20T00:03:26.969Z,1758326606.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516382
2025-09-20T00:03:27.105Z,1758326607.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.47 m.
2025-09-20T00:03:27.113Z,1758326607.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.465668 m,
      nav range: 121.891891 m,
      bearing: 258.599881 deg,
      approach rate: -0.523574 m/s,
      LOS rate: -0.006151 deg/s,
      cmd heading: 245.469704 deg,
      new cmd heading: 245.463915 deg.

2025-09-20T00:03:27.114Z,1758326607.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284153 target range: 126.465668 and range: 126.80 m.
2025-09-20T00:03:27.227Z,1758326607.227 [DAT](INFO): DAT read: 00:03:27.4822 LVL= 26832, 32753, 32290, 32755, AGC= 67, IDX= 424, 0.07, 1.478,-0.484, 1.163, 1.052, PHS= 0.528,-1.491, 0.067, RAW= 137.4,   9.8, CAL= 137.0,  10.8, ROT=  13.0, -10.8

2025-09-20T00:03:27.228Z,1758326607.228 [DAT](INFO): got valid direction response:
 00:03:27.4822 LVL= 26832, 32753, 32290, 32755, AGC= 67, IDX= 424, 0.07, 1.478,-0.484, 1.163, 1.052, PHS= 0.528,-1.491, 0.067, RAW= 137.4,   9.8, CAL= 137.0,  10.8, ROT=  13.0, -10.8

2025-09-20T00:03:27.229Z,1758326607.229 [DAT](INFO): DAT read: Bearing  33.5,  13.2 (Local)

2025-09-20T00:03:27.229Z,1758326607.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.5,  13.2 (Local)

2025-09-20T00:03:27.231Z,1758326607.231 [DAT](INFO): DAT read: Range 11 to 50 : 125.0 m  (Round-trip  166.7 ms) speed  0.4 m/s

2025-09-20T00:03:27.231Z,1758326607.231 [DAT](INFO): DAT read: user:690>

2025-09-20T00:03:27.232Z,1758326607.232 [DAT](INFO): DAT read: Tx time:00:03:28.6113

2025-09-20T00:03:27.233Z,1758326607.233 [DAT](INFO): Ping request sent.
2025-09-20T00:03:27.233Z,1758326607.233 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:27.233Z,1758326607.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:27.234Z,1758326607.234 [DAT](INFO): direction in FSK: [0.957111,0.220967,0.187381]
2025-09-20T00:03:27.234Z,1758326607.234 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:27.234Z,1758326607.234 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:27.238Z,1758326607.238 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:27.238Z,1758326607.238 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:27.481Z,1758326607.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.000000 m,
      deltaT: 3.780048 s,
      deltaX: -1.800003 m,
      approachRate: -0.476185 m/s,
      rangeRepo size: 4

2025-09-20T00:03:27.483Z,1758326607.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.670433 m,
      bearing: 258.897330 deg,
      lat: 36.779445 deg,
      lon: -121.859711 deg,
      deltaT: 3.780048 s,
      deltaX: -1.795235 m,
      approachRate: -0.474924 m/s,
      posRepo size: 4

2025-09-20T00:03:27.488Z,1758326607.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:27.491Z,1758326607.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 121.901649 m,
      bearing: 258.616591 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006151 deg/s,
      cmd heading: 245.463912 deg,
      new cmd heading: 245.459226 deg.

2025-09-20T00:03:27.508Z,1758326607.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284071 target range: 124.670433 and range: 125.00 m.
2025-09-20T00:03:27.888Z,1758326607.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:27.891Z,1758326607.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 121.681488 m,
      bearing: 258.611042 deg,
      approach rate: -0.540393 m/s,
      LOS rate: -0.013643 deg/s,
      cmd heading: 245.459213 deg,
      new cmd heading: 245.448096 deg.

2025-09-20T00:03:27.892Z,1758326607.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283877 target range: 124.670433 and range: 125.00 m.
2025-09-20T00:03:28.278Z,1758326608.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:28.281Z,1758326608.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 121.485504 m,
      bearing: 258.606111 deg,
      approach rate: -0.503106 m/s,
      LOS rate: -0.012679 deg/s,
      cmd heading: 245.448093 deg,
      new cmd heading: 245.438215 deg.

2025-09-20T00:03:28.282Z,1758326608.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283705 target range: 124.670433 and range: 125.00 m.
2025-09-20T00:03:28.690Z,1758326608.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:28.714Z,1758326608.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:28.735Z,1758326608.735 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:28.736Z,1758326608.736 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:28.737Z,1758326608.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:28.757Z,1758326608.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 121.287758 m,
      bearing: 258.601158 deg,
      approach rate: -0.454138 m/s,
      LOS rate: -0.011394 deg/s,
      cmd heading: 245.438203 deg,
      new cmd heading: 245.428281 deg.

2025-09-20T00:03:28.758Z,1758326608.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283532 target range: 124.670433 and range: 125.00 m.
2025-09-20T00:03:28.985Z,1758326608.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752227
2025-09-20T00:03:29.102Z,1758326609.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:29.121Z,1758326609.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 121.072388 m,
      bearing: 258.594453 deg,
      approach rate: -0.553934 m/s,
      LOS rate: -0.017276 deg/s,
      cmd heading: 245.428286 deg,
      new cmd heading: 245.414852 deg.

2025-09-20T00:03:29.122Z,1758326609.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283297 target range: 124.670433 and range: 125.00 m.
2025-09-20T00:03:29.237Z,1758326609.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004187
2025-09-20T00:03:29.489Z,1758326609.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256038
2025-09-20T00:03:29.531Z,1758326609.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:29.534Z,1758326609.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 120.858261 m,
      bearing: 258.587822 deg,
      approach rate: -0.498795 m/s,
      LOS rate: -0.015473 deg/s,
      cmd heading: 245.414844 deg,
      new cmd heading: 245.401559 deg.

2025-09-20T00:03:29.535Z,1758326609.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283065 target range: 124.670433 and range: 125.00 m.
2025-09-20T00:03:29.745Z,1758326609.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512064
2025-09-20T00:03:29.932Z,1758326609.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:29.934Z,1758326609.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 120.651031 m,
      bearing: 258.580852 deg,
      approach rate: -0.517547 m/s,
      LOS rate: -0.017437 deg/s,
      cmd heading: 245.401566 deg,
      new cmd heading: 245.387603 deg.

2025-09-20T00:03:29.935Z,1758326609.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282822 target range: 124.670433 and range: 125.00 m.
2025-09-20T00:03:29.994Z,1758326609.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761243
2025-09-20T00:03:30.249Z,1758326610.249 [DAT](INFO): DAT read: Rx Time:00:03:31.1795

2025-09-20T00:03:30.249Z,1758326610.249 [DAT](INFO): Rx dataTimestamp_ set to:1758326610.248698
2025-09-20T00:03:30.249Z,1758326610.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016716
2025-09-20T00:03:30.344Z,1758326610.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:30.347Z,1758326610.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 120.443947 m,
      bearing: 258.573910 deg,
      approach rate: -0.506888 m/s,
      LOS rate: -0.017022 deg/s,
      cmd heading: 245.387605 deg,
      new cmd heading: 245.373697 deg.

2025-09-20T00:03:30.351Z,1758326610.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282579 target range: 124.670433 and range: 125.00 m.
2025-09-20T00:03:30.501Z,1758326610.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268093
2025-09-20T00:03:30.737Z,1758326610.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:30.800Z,1758326610.800 [DAT](INFO): DAT read: 00:03:31.1795 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.20, 0.688,-1.246, 0.392, 0.284, PHS= 0.506,-1.485, 0.065, RAW= 137.8,  10.1, CAL= 137.4,  11.1, ROT=  12.6, -11.1

2025-09-20T00:03:30.801Z,1758326610.801 [DAT](INFO): got valid direction response:
 00:03:31.1795 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.20, 0.688,-1.246, 0.392, 0.284, PHS= 0.506,-1.485, 0.065, RAW= 137.8,  10.1, CAL= 137.4,  11.1, ROT=  12.6, -11.1

2025-09-20T00:03:30.802Z,1758326610.802 [DAT](INFO): DAT read: Bearing  33.9,  12.6 (Local)

2025-09-20T00:03:30.802Z,1758326610.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.9,  12.6 (Local)

2025-09-20T00:03:30.803Z,1758326610.803 [DAT](INFO): DAT read: Range 11 to 50 : 123.0 m  (Round-trip  164.1 ms) speed  0.4 m/s

2025-09-20T00:03:30.812Z,1758326610.812 [DAT](INFO): DAT read: user:691>

2025-09-20T00:03:30.813Z,1758326610.813 [DAT](INFO): DAT read: 00:03:32.3113

2025-09-20T00:03:30.813Z,1758326610.813 [DAT](INFO): unknown deviceResponse_: 00:03:32.3113

2025-09-20T00:03:30.814Z,1758326610.814 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:30.815Z,1758326610.815 [DAT](INFO): direction in FSK: [0.957660,0.214062,0.192522]
2025-09-20T00:03:30.815Z,1758326610.815 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:30.818Z,1758326610.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.000000 m,
      deltaT: 3.538207 s,
      deltaX: -2.000000 m,
      approachRate: -0.565258 m/s,
      rangeRepo size: 4

2025-09-20T00:03:30.818Z,1758326610.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:30.827Z,1758326610.827 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:30.827Z,1758326610.827 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:30.827Z,1758326610.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:30.830Z,1758326610.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 120.241806 m,
      bearing: 258.567154 deg,
      approach rate: -0.423984 m/s,
      LOS rate: -0.014195 deg/s,
      cmd heading: 245.373699 deg,
      new cmd heading: 245.360164 deg.

2025-09-20T00:03:30.831Z,1758326610.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282343 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:31.009Z,1758326611.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776175
2025-09-20T00:03:31.228Z,1758326611.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:31.231Z,1758326611.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 119.987572 m,
      bearing: 258.557131 deg,
      approach rate: -0.618551 m/s,
      LOS rate: -0.024436 deg/s,
      cmd heading: 245.360175 deg,
      new cmd heading: 245.340088 deg.

2025-09-20T00:03:31.232Z,1758326611.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281992 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:31.261Z,1758326611.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028148
2025-09-20T00:03:31.513Z,1758326611.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280549
2025-09-20T00:03:31.586Z,1758326611.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:31.605Z,1758326611.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 119.803352 m,
      bearing: 258.549869 deg,
      approach rate: -0.514065 m/s,
      LOS rate: -0.020296 deg/s,
      cmd heading: 245.340094 deg,
      new cmd heading: 245.325548 deg.

2025-09-20T00:03:31.606Z,1758326611.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281739 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:31.767Z,1758326611.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533998
2025-09-20T00:03:32.007Z,1758326612.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:32.017Z,1758326612.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784315
2025-09-20T00:03:32.025Z,1758326612.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 119.593102 m,
      bearing: 258.541875 deg,
      approach rate: -0.500339 m/s,
      LOS rate: -0.019059 deg/s,
      cmd heading: 245.325560 deg,
      new cmd heading: 245.309542 deg.

2025-09-20T00:03:32.026Z,1758326612.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281459 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:32.274Z,1758326612.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040856
2025-09-20T00:03:32.395Z,1758326612.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:32.397Z,1758326612.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 119.398857 m,
      bearing: 258.534484 deg,
      approach rate: -0.500475 m/s,
      LOS rate: -0.019074 deg/s,
      cmd heading: 245.309550 deg,
      new cmd heading: 245.294744 deg.

2025-09-20T00:03:32.398Z,1758326612.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281201 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:32.521Z,1758326612.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288041
2025-09-20T00:03:32.776Z,1758326612.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542237
2025-09-20T00:03:32.870Z,1758326612.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:32.872Z,1758326612.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:32.875Z,1758326612.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 119.168488 m,
      bearing: 258.524810 deg,
      approach rate: -0.482869 m/s,
      LOS rate: -0.020317 deg/s,
      cmd heading: 245.294742 deg,
      new cmd heading: 245.275356 deg.

2025-09-20T00:03:32.875Z,1758326612.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280862 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:33.025Z,1758326613.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792069
2025-09-20T00:03:33.214Z,1758326613.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:33.217Z,1758326613.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 119.001717 m,
      bearing: 258.517809 deg,
      approach rate: -0.486856 m/s,
      LOS rate: -0.020466 deg/s,
      cmd heading: 245.275344 deg,
      new cmd heading: 245.261323 deg.

2025-09-20T00:03:33.218Z,1758326613.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280618 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:33.277Z,1758326613.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044540
2025-09-20T00:03:33.529Z,1758326613.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296068
2025-09-20T00:03:33.711Z,1758326613.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:33.714Z,1758326613.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 118.761238 m,
      bearing: 258.507678 deg,
      approach rate: -0.484120 m/s,
      LOS rate: -0.020436 deg/s,
      cmd heading: 245.261329 deg,
      new cmd heading: 245.241027 deg.

2025-09-20T00:03:33.715Z,1758326613.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280263 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:33.784Z,1758326613.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550536
2025-09-20T00:03:34.033Z,1758326614.033 [DAT](INFO): DAT read: Rx Time:00:03:34.8772

2025-09-20T00:03:34.033Z,1758326614.033 [DAT](INFO): Rx dataTimestamp_ set to:1758326614.033159
2025-09-20T00:03:34.034Z,1758326614.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801183
2025-09-20T00:03:34.100Z,1758326614.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:34.103Z,1758326614.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 118.587982 m,
      bearing: 258.500924 deg,
      approach rate: -0.469560 m/s,
      LOS rate: -0.018331 deg/s,
      cmd heading: 245.241029 deg,
      new cmd heading: 245.227502 deg.

2025-09-20T00:03:34.108Z,1758326614.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280027 target range: 124.670433 and range: 123.00 m.
2025-09-20T00:03:34.285Z,1758326614.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052352
2025-09-20T00:03:34.543Z,1758326614.543 [DAT](INFO): DAT read: 00:03:34.8772 LVL= 30624, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.02, 2.325, 0.431, 2.028, 1.939, PHS= 0.488,-1.463, 0.045, RAW= 137.5,  10.5, CAL= 137.0,  11.5, ROT=  13.0, -11.5

2025-09-20T00:03:34.544Z,1758326614.544 [DAT](INFO): got valid direction response:
 00:03:34.8772 LVL= 30624, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.02, 2.325, 0.431, 2.028, 1.939, PHS= 0.488,-1.463, 0.045, RAW= 137.5,  10.5, CAL= 137.0,  11.5, ROT=  13.0, -11.5

2025-09-20T00:03:34.545Z,1758326614.545 [DAT](INFO): DAT read: Bearing  34.2,  13.1 (Local)

2025-09-20T00:03:34.545Z,1758326614.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.2,  13.1 (Local)

2025-09-20T00:03:34.547Z,1758326614.547 [DAT](INFO): DAT read: Range 11 to 50 : 121.4 m  (Round-trip  161.9 ms) speed  0.3 m/s

2025-09-20T00:03:34.547Z,1758326614.547 [DAT](INFO): DAT read: user:692>

2025-09-20T00:03:34.548Z,1758326614.548 [DAT](INFO): DAT read: Tx time:00:03:35.9612

2025-09-20T00:03:34.548Z,1758326614.548 [DAT](INFO): Ping request sent.
2025-09-20T00:03:34.549Z,1758326614.549 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:34.549Z,1758326614.549 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:34.550Z,1758326614.550 [DAT](INFO): direction in FSK: [0.954809,0.220435,0.199368]
2025-09-20T00:03:34.550Z,1758326614.550 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:34.550Z,1758326614.550 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:34.554Z,1758326614.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.400002 m,
      deltaT: 3.777811 s,
      deltaX: -1.599998 m,
      approachRate: -0.423525 m/s,
      rangeRepo size: 4

2025-09-20T00:03:34.554Z,1758326614.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:34.558Z,1758326614.558 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:34.558Z,1758326614.558 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:34.561Z,1758326614.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 118.381004 m,
      bearing: 258.492786 deg,
      approach rate: -0.437418 m/s,
      LOS rate: -0.017229 deg/s,
      cmd heading: 245.227506 deg,
      new cmd heading: 245.211200 deg.

2025-09-20T00:03:34.562Z,1758326614.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279743 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:34.987Z,1758326614.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:34.994Z,1758326614.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 118.169876 m,
      bearing: 258.486066 deg,
      approach rate: -0.486577 m/s,
      LOS rate: -0.015514 deg/s,
      cmd heading: 245.211195 deg,
      new cmd heading: 245.197732 deg.

2025-09-20T00:03:34.995Z,1758326614.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279508 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:35.331Z,1758326615.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:35.333Z,1758326615.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:35.335Z,1758326615.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 118.000114 m,
      bearing: 258.480652 deg,
      approach rate: -0.490785 m/s,
      LOS rate: -0.015676 deg/s,
      cmd heading: 245.197726 deg,
      new cmd heading: 245.186881 deg.

2025-09-20T00:03:35.337Z,1758326615.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279318 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:35.545Z,1758326615.545 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:35.545Z,1758326615.545 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:35.545Z,1758326615.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:35.735Z,1758326615.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:35.760Z,1758326615.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 117.813980 m,
      bearing: 258.474714 deg,
      approach rate: -0.462888 m/s,
      LOS rate: -0.014791 deg/s,
      cmd heading: 245.186880 deg,
      new cmd heading: 245.174984 deg.

2025-09-20T00:03:35.767Z,1758326615.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279111 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:35.800Z,1758326615.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250692
2025-09-20T00:03:36.049Z,1758326616.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500327
2025-09-20T00:03:36.205Z,1758326616.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:36.208Z,1758326616.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 117.588348 m,
      bearing: 258.469464 deg,
      approach rate: -0.479660 m/s,
      LOS rate: -0.011181 deg/s,
      cmd heading: 245.174995 deg,
      new cmd heading: 245.164476 deg.

2025-09-20T00:03:36.209Z,1758326616.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278927 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:36.303Z,1758326616.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754848
2025-09-20T00:03:36.557Z,1758326616.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008480
2025-09-20T00:03:36.594Z,1758326616.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:36.597Z,1758326616.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 117.413651 m,
      bearing: 258.465405 deg,
      approach rate: -0.449567 m/s,
      LOS rate: -0.010460 deg/s,
      cmd heading: 245.164477 deg,
      new cmd heading: 245.156347 deg.

2025-09-20T00:03:36.598Z,1758326616.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278785 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:36.810Z,1758326616.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260785
2025-09-20T00:03:37.002Z,1758326617.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:37.006Z,1758326617.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 117.205849 m,
      bearing: 258.463114 deg,
      approach rate: -0.509388 m/s,
      LOS rate: -0.005628 deg/s,
      cmd heading: 245.156335 deg,
      new cmd heading: 245.151743 deg.

2025-09-20T00:03:37.007Z,1758326617.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278705 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:37.062Z,1758326617.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512917
2025-09-20T00:03:37.313Z,1758326617.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764281
2025-09-20T00:03:37.389Z,1758326617.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:37.391Z,1758326617.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:37.394Z,1758326617.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 117.005615 m,
      bearing: 258.460907 deg,
      approach rate: -0.514890 m/s,
      LOS rate: -0.005684 deg/s,
      cmd heading: 245.151745 deg,
      new cmd heading: 245.147324 deg.

2025-09-20T00:03:37.395Z,1758326617.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278628 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:37.565Z,1758326617.565 [DAT](INFO): DAT read: Rx Time:00:03:38.5249

2025-09-20T00:03:37.565Z,1758326617.565 [DAT](INFO): Rx dataTimestamp_ set to:1758326617.565160
2025-09-20T00:03:37.566Z,1758326617.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017398
2025-09-20T00:03:37.807Z,1758326617.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:37.811Z,1758326617.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 116.809593 m,
      bearing: 258.458787 deg,
      approach rate: -0.474647 m/s,
      LOS rate: -0.005142 deg/s,
      cmd heading: 245.147319 deg,
      new cmd heading: 245.143072 deg.

2025-09-20T00:03:37.814Z,1758326617.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278554 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:37.819Z,1758326617.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270239
2025-09-20T00:03:38.072Z,1758326618.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522515
2025-09-20T00:03:38.237Z,1758326618.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.67 m.
2025-09-20T00:03:38.240Z,1758326618.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.670433 m,
      nav range: 116.577934 m,
      bearing: 258.452524 deg,
      approach rate: -0.534956 m/s,
      LOS rate: -0.014491 deg/s,
      cmd heading: 245.143084 deg,
      new cmd heading: 245.130534 deg.

2025-09-20T00:03:38.241Z,1758326618.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278335 target range: 124.670433 and range: 121.40 m.
2025-09-20T00:03:38.327Z,1758326618.327 [DAT](INFO): DAT read: 00:03:38.5249 LVL= 24720, 32753, 26194, 32755, AGC= 68, IDX= 414, 0.16,-0.824,-2.805,-1.118,-1.252, PHS= 0.530,-1.508, 0.090, RAW= 138.2,   9.6, CAL= 137.8,  10.6, ROT=  12.2, -10.6

2025-09-20T00:03:38.329Z,1758326618.329 [DAT](INFO): got valid direction response:
 00:03:38.5249 LVL= 24720, 32753, 26194, 32755, AGC= 68, IDX= 414, 0.16,-0.824,-2.805,-1.118,-1.252, PHS= 0.530,-1.508, 0.090, RAW= 138.2,   9.6, CAL= 137.8,  10.6, ROT=  12.2, -10.6

2025-09-20T00:03:38.330Z,1758326618.330 [DAT](INFO): DAT read: Bearing  32.9,  12.5 (Local)

2025-09-20T00:03:38.331Z,1758326618.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.9,  12.5 (Local)

2025-09-20T00:03:38.334Z,1758326618.334 [DAT](INFO): DAT read: Range 11 to 50 : 119.6 m  (Round-trip  159.5 ms) speed  0.5 m/s

2025-09-20T00:03:38.335Z,1758326618.335 [DAT](INFO): DAT read: user:693>

2025-09-20T00:03:38.336Z,1758326618.336 [DAT](INFO): DAT read: Tx time:00:03:39.6112

2025-09-20T00:03:38.337Z,1758326618.337 [DAT](INFO): Ping request sent.
2025-09-20T00:03:38.337Z,1758326618.337 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:38.337Z,1758326618.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:38.339Z,1758326618.339 [DAT](INFO): direction in FSK: [0.960737,0.207719,0.183951]
2025-09-20T00:03:38.339Z,1758326618.339 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:38.353Z,1758326618.353 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:38.360Z,1758326618.360 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:38.362Z,1758326618.362 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:38.602Z,1758326618.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.599998 m,
      deltaT: 3.784628 s,
      deltaX: -1.800003 m,
      approachRate: -0.475609 m/s,
      rangeRepo size: 4

2025-09-20T00:03:38.604Z,1758326618.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.284172 m,
      bearing: 257.719797 deg,
      lat: 36.779448 deg,
      lon: -121.859715 deg,
      deltaT: 11.100646 s,
      deltaX: -5.386261 m,
      approachRate: -0.485220 m/s,
      posRepo size: 4

2025-09-20T00:03:38.605Z,1758326618.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-09-20T00:03:38.607Z,1758326618.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.284172 m,
      nav range: 116.688828 m,
      bearing: 258.651400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014491 deg/s,
      cmd heading: 245.130544 deg,
      new cmd heading: 245.119984 deg.

2025-09-20T00:03:38.648Z,1758326618.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278151 target range: 119.284172 and range: 119.60 m.
2025-09-20T00:03:39.022Z,1758326619.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-09-20T00:03:39.025Z,1758326619.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.284172 m,
      nav range: 116.467743 m,
      bearing: 258.647689 deg,
      approach rate: -0.525736 m/s,
      LOS rate: -0.008841 deg/s,
      cmd heading: 245.119971 deg,
      new cmd heading: 245.112536 deg.

2025-09-20T00:03:39.026Z,1758326619.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278021 target range: 119.284172 and range: 119.60 m.
2025-09-20T00:03:39.419Z,1758326619.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:39.422Z,1758326619.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-09-20T00:03:39.425Z,1758326619.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.284172 m,
      nav range: 116.259766 m,
      bearing: 258.644186 deg,
      approach rate: -0.519503 m/s,
      LOS rate: -0.008767 deg/s,
      cmd heading: 245.112540 deg,
      new cmd heading: 245.105520 deg.

2025-09-20T00:03:39.426Z,1758326619.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277898 target range: 119.284172 and range: 119.60 m.
2025-09-20T00:03:39.581Z,1758326619.581 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:39.581Z,1758326619.581 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:39.581Z,1758326619.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:39.825Z,1758326619.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-09-20T00:03:39.831Z,1758326619.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.284172 m,
      nav range: 116.060371 m,
      bearing: 258.640952 deg,
      approach rate: -0.501119 m/s,
      LOS rate: -0.008142 deg/s,
      cmd heading: 245.105518 deg,
      new cmd heading: 245.099039 deg.

2025-09-20T00:03:39.833Z,1758326619.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496279
2025-09-20T00:03:39.837Z,1758326619.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277785 target range: 119.284172 and range: 119.60 m.
2025-09-20T00:03:40.085Z,1758326620.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747952
2025-09-20T00:03:40.251Z,1758326620.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-09-20T00:03:40.255Z,1758326620.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.284172 m,
      nav range: 115.823303 m,
      bearing: 258.637766 deg,
      approach rate: -0.549930 m/s,
      LOS rate: -0.007407 deg/s,
      cmd heading: 245.099043 deg,
      new cmd heading: 245.092658 deg.

2025-09-20T00:03:40.272Z,1758326620.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277674 target range: 119.284172 and range: 119.60 m.
2025-09-20T00:03:40.338Z,1758326620.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001098
2025-09-20T00:03:40.589Z,1758326620.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252079
2025-09-20T00:03:40.639Z,1758326620.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-09-20T00:03:40.642Z,1758326620.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.284172 m,
      nav range: 115.617531 m,
      bearing: 258.635040 deg,
      approach rate: -0.530566 m/s,
      LOS rate: -0.007039 deg/s,
      cmd heading: 245.092650 deg,
      new cmd heading: 245.087190 deg.

2025-09-20T00:03:40.643Z,1758326620.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277578 target range: 119.284172 and range: 119.60 m.
2025-09-20T00:03:40.842Z,1758326620.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505301
2025-09-20T00:03:41.056Z,1758326621.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-09-20T00:03:41.059Z,1758326621.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.284172 m,
      nav range: 115.395149 m,
      bearing: 258.630607 deg,
      approach rate: -0.533235 m/s,
      LOS rate: -0.010650 deg/s,
      cmd heading: 245.087186 deg,
      new cmd heading: 245.078303 deg.

2025-09-20T00:03:41.060Z,1758326621.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277423 target range: 119.284172 and range: 119.60 m.
2025-09-20T00:03:41.093Z,1758326621.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756032
2025-09-20T00:03:41.345Z,1758326621.345 [DAT](INFO): DAT read: Rx Time:00:03:42.1721

2025-09-20T00:03:41.345Z,1758326621.345 [DAT](INFO): Rx dataTimestamp_ set to:1758326621.345132
2025-09-20T00:03:41.346Z,1758326621.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009142
2025-09-20T00:03:41.439Z,1758326621.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:41.442Z,1758326621.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-09-20T00:03:41.461Z,1758326621.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.284172 m,
      nav range: 115.189972 m,
      bearing: 258.626581 deg,
      approach rate: -0.532020 m/s,
      LOS rate: -0.010459 deg/s,
      cmd heading: 245.078307 deg,
      new cmd heading: 245.070240 deg.

2025-09-20T00:03:41.461Z,1758326621.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277283 target range: 119.284172 and range: 119.60 m.
2025-09-20T00:03:41.597Z,1758326621.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260007
2025-09-20T00:03:41.856Z,1758326621.856 [DAT](INFO): DAT read: 00:03:42.1721 LVL= 30256, 32753, 32754, 32755, AGC= 68, IDX= 419,-0.39,-2.402, 1.954,-2.684,-2.768, PHS= 0.468,-1.515, 0.041, RAW= 138.2,  11.1, CAL= 137.7,  12.1, ROT=  12.3, -12.1

2025-09-20T00:03:41.860Z,1758326621.860 [DAT](INFO): got valid direction response:
 00:03:42.1721 LVL= 30256, 32753, 32754, 32755, AGC= 68, IDX= 419,-0.39,-2.402, 1.954,-2.684,-2.768, PHS= 0.468,-1.515, 0.041, RAW= 138.2,  11.1, CAL= 137.7,  12.1, ROT=  12.3, -12.1

2025-09-20T00:03:41.861Z,1758326621.861 [DAT](INFO): DAT read: Bearing  34.3,  12.7 (Local)

2025-09-20T00:03:41.861Z,1758326621.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.3,  12.7 (Local)

2025-09-20T00:03:41.863Z,1758326621.863 [DAT](INFO): DAT read: Range 11 to 50 : 117.6 m  (Round-trip  156.8 ms) speed  0.4 m/s

2025-09-20T00:03:41.863Z,1758326621.863 [DAT](INFO): DAT read: user:694>

2025-09-20T00:03:41.864Z,1758326621.864 [DAT](INFO): DAT read: Tx time:00:03:43.2612

2025-09-20T00:03:41.865Z,1758326621.865 [DAT](INFO): Ping request sent.
2025-09-20T00:03:41.865Z,1758326621.865 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:41.865Z,1758326621.865 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:41.866Z,1758326621.866 [DAT](INFO): direction in FSK: [0.955339,0.208298,0.209619]
2025-09-20T00:03:41.866Z,1758326621.866 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:41.866Z,1758326621.866 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:41.891Z,1758326621.891 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:41.908Z,1758326621.908 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:41.966Z,1758326621.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.599998 m,
      deltaT: 3.527302 s,
      deltaX: -2.000000 m,
      approachRate: -0.567006 m/s,
      rangeRepo size: 4

2025-09-20T00:03:41.972Z,1758326621.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.290138 m,
      bearing: 257.579592 deg,
      lat: 36.779439 deg,
      lon: -121.859715 deg,
      deltaT: 3.527302 s,
      deltaX: -1.994034 m,
      approachRate: -0.565314 m/s,
      posRepo size: 4

2025-09-20T00:03:41.973Z,1758326621.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:41.975Z,1758326621.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 115.169067 m,
      bearing: 258.147053 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010459 deg/s,
      cmd heading: 245.070247 deg,
      new cmd heading: 245.059419 deg.

2025-09-20T00:03:41.981Z,1758326621.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277094 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:42.337Z,1758326622.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:42.343Z,1758326622.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 114.910202 m,
      bearing: 258.139789 deg,
      approach rate: -0.685391 m/s,
      LOS rate: -0.019274 deg/s,
      cmd heading: 245.059428 deg,
      new cmd heading: 245.044869 deg.

2025-09-20T00:03:42.345Z,1758326622.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276840 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:42.717Z,1758326622.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:42.719Z,1758326622.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 114.702469 m,
      bearing: 258.133982 deg,
      approach rate: -0.547271 m/s,
      LOS rate: -0.015326 deg/s,
      cmd heading: 245.044866 deg,
      new cmd heading: 245.033231 deg.

2025-09-20T00:03:42.720Z,1758326622.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276637 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:43.157Z,1758326623.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:43.174Z,1758326623.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 114.493668 m,
      bearing: 258.127820 deg,
      approach rate: -0.473644 m/s,
      LOS rate: -0.014005 deg/s,
      cmd heading: 245.033228 deg,
      new cmd heading: 245.020880 deg.

2025-09-20T00:03:43.181Z,1758326623.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276421 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:43.531Z,1758326623.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:43.534Z,1758326623.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:43.545Z,1758326623.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 114.290230 m,
      bearing: 258.121816 deg,
      approach rate: -0.540684 m/s,
      LOS rate: -0.015985 deg/s,
      cmd heading: 245.020879 deg,
      new cmd heading: 245.008850 deg.

2025-09-20T00:03:43.546Z,1758326623.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276211 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:43.613Z,1758326623.613 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:43.613Z,1758326623.613 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:43.613Z,1758326623.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:43.865Z,1758326623.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000105
2025-09-20T00:03:44.095Z,1758326624.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:44.098Z,1758326624.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 114.015877 m,
      bearing: 258.110088 deg,
      approach rate: -0.488634 m/s,
      LOS rate: -0.020939 deg/s,
      cmd heading: 245.008858 deg,
      new cmd heading: 244.985344 deg.

2025-09-20T00:03:44.099Z,1758326624.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275801 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:44.117Z,1758326624.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252471
2025-09-20T00:03:44.370Z,1758326624.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504961
2025-09-20T00:03:44.485Z,1758326624.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:44.487Z,1758326624.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 113.832085 m,
      bearing: 258.102199 deg,
      approach rate: -0.471815 m/s,
      LOS rate: -0.020283 deg/s,
      cmd heading: 244.985334 deg,
      new cmd heading: 244.969532 deg.

2025-09-20T00:03:44.489Z,1758326624.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275525 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:44.622Z,1758326624.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757309
2025-09-20T00:03:44.873Z,1758326624.873 [DAT](INFO): DAT read: Rx Time:00:03:45.8197

2025-09-20T00:03:44.873Z,1758326624.873 [DAT](INFO): Rx dataTimestamp_ set to:1758326624.873108
2025-09-20T00:03:44.874Z,1758326624.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009226
2025-09-20T00:03:45.013Z,1758326625.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:45.015Z,1758326625.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 113.567390 m,
      bearing: 258.090938 deg,
      approach rate: -0.501433 m/s,
      LOS rate: -0.021382 deg/s,
      cmd heading: 244.969543 deg,
      new cmd heading: 244.946969 deg.

2025-09-20T00:03:45.016Z,1758326625.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275131 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:45.125Z,1758326625.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260251
2025-09-20T00:03:45.351Z,1758326625.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-09-20T00:03:45.354Z,1758326625.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.290138 m,
      nav range: 113.405930 m,
      bearing: 258.083743 deg,
      approach rate: -0.477167 m/s,
      LOS rate: -0.021294 deg/s,
      cmd heading: 244.946976 deg,
      new cmd heading: 244.932565 deg.

2025-09-20T00:03:45.355Z,1758326625.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274880 target range: 117.290138 and range: 117.60 m.
2025-09-20T00:03:45.380Z,1758326625.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514769
2025-09-20T00:03:45.638Z,1758326625.638 [DAT](INFO): DAT read: 00:03:45.8197 LVL= 25904, 32753, 30930, 32755, AGC= 67, IDX= 409, 0.41,-0.965,-2.847,-1.244,-1.346, PHS= 0.483,-1.456, 0.059, RAW= 138.0,  10.4, CAL= 137.5,  11.4, ROT=  12.5, -11.4

2025-09-20T00:03:45.641Z,1758326625.641 [DAT](INFO): got valid direction response:
 00:03:45.8197 LVL= 25904, 32753, 30930, 32755, AGC= 67, IDX= 409, 0.41,-0.965,-2.847,-1.244,-1.346, PHS= 0.483,-1.456, 0.059, RAW= 138.0,  10.4, CAL= 137.5,  11.4, ROT=  12.5, -11.4

2025-09-20T00:03:45.642Z,1758326625.642 [DAT](INFO): DAT read: Bearing  33.4,  12.8 (Local)

2025-09-20T00:03:45.642Z,1758326625.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.4,  12.8 (Local)

2025-09-20T00:03:45.646Z,1758326625.646 [DAT](INFO): DAT read: Range 11 to 50 : 115.7 m  (Round-trip  154.3 ms) speed  0.4 m/s

2025-09-20T00:03:45.647Z,1758326625.647 [DAT](INFO): DAT read: user:695>

2025-09-20T00:03:45.674Z,1758326625.674 [DAT](INFO): DAT read: Tx time:00:03:46.9112

2025-09-20T00:03:45.675Z,1758326625.675 [DAT](INFO): Ping request sent.
2025-09-20T00:03:45.675Z,1758326625.675 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:45.688Z,1758326625.688 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:45.689Z,1758326625.689 [DAT](INFO): direction in FSK: [0.957035,0.212170,0.197657]
2025-09-20T00:03:45.689Z,1758326625.689 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:45.690Z,1758326625.690 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:45.731Z,1758326625.731 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:45.731Z,1758326625.731 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:45.801Z,1758326625.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.699997 m,
      deltaT: 3.780955 s,
      deltaX: -1.900002 m,
      approachRate: -0.502519 m/s,
      rangeRepo size: 4

2025-09-20T00:03:45.803Z,1758326625.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.395180 m,
      bearing: 257.573120 deg,
      lat: 36.779431 deg,
      lon: -121.859712 deg,
      deltaT: 3.780955 s,
      deltaX: -1.894958 m,
      approachRate: -0.501185 m/s,
      posRepo size: 4

2025-09-20T00:03:45.820Z,1758326625.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:45.823Z,1758326625.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 113.113007 m,
      bearing: 257.605078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021294 deg/s,
      cmd heading: 244.932578 deg,
      new cmd heading: 244.913425 deg.

2025-09-20T00:03:45.828Z,1758326625.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274546 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:46.192Z,1758326626.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:46.194Z,1758326626.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:46.197Z,1758326626.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 112.917625 m,
      bearing: 257.595414 deg,
      approach rate: -0.496920 m/s,
      LOS rate: -0.024621 deg/s,
      cmd heading: 244.913426 deg,
      new cmd heading: 244.894065 deg.

2025-09-20T00:03:46.198Z,1758326626.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274208 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:46.385Z,1758326626.385 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:46.385Z,1758326626.385 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:46.385Z,1758326626.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:46.561Z,1758326626.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:46.564Z,1758326626.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 112.749580 m,
      bearing: 257.587048 deg,
      approach rate: -0.457487 m/s,
      LOS rate: -0.022809 deg/s,
      cmd heading: 244.894056 deg,
      new cmd heading: 244.877299 deg.

2025-09-20T00:03:46.565Z,1758326626.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273915 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:46.638Z,1758326626.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963633
2025-09-20T00:03:46.889Z,1758326626.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214196
2025-09-20T00:03:47.098Z,1758326627.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:47.101Z,1758326627.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 112.497009 m,
      bearing: 257.572840 deg,
      approach rate: -0.470386 m/s,
      LOS rate: -0.026520 deg/s,
      cmd heading: 244.877308 deg,
      new cmd heading: 244.848828 deg.

2025-09-20T00:03:47.102Z,1758326627.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273418 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:47.142Z,1758326627.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467510
2025-09-20T00:03:47.393Z,1758326627.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718380
2025-09-20T00:03:47.412Z,1758326627.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:47.415Z,1758326627.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 112.364830 m,
      bearing: 257.565366 deg,
      approach rate: -0.449758 m/s,
      LOS rate: -0.025462 deg/s,
      cmd heading: 244.848840 deg,
      new cmd heading: 244.833874 deg.

2025-09-20T00:03:47.420Z,1758326627.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273157 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:47.646Z,1758326627.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971533
2025-09-20T00:03:47.797Z,1758326627.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:47.799Z,1758326627.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 112.185051 m,
      bearing: 257.555140 deg,
      approach rate: -0.444260 m/s,
      LOS rate: -0.025311 deg/s,
      cmd heading: 244.833868 deg,
      new cmd heading: 244.813383 deg.

2025-09-20T00:03:47.801Z,1758326627.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272799 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:47.897Z,1758326627.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222272
2025-09-20T00:03:48.150Z,1758326628.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474840
2025-09-20T00:03:48.213Z,1758326628.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:48.215Z,1758326628.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:48.223Z,1758326628.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 111.993980 m,
      bearing: 257.544303 deg,
      approach rate: -0.456855 m/s,
      LOS rate: -0.025956 deg/s,
      cmd heading: 244.813378 deg,
      new cmd heading: 244.791666 deg.

2025-09-20T00:03:48.223Z,1758326628.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272420 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:48.401Z,1758326628.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726303
2025-09-20T00:03:48.561Z,1758326628.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:48.564Z,1758326628.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 111.834724 m,
      bearing: 257.535209 deg,
      approach rate: -0.460202 m/s,
      LOS rate: -0.026316 deg/s,
      cmd heading: 244.791658 deg,
      new cmd heading: 244.773444 deg.

2025-09-20T00:03:48.565Z,1758326628.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272102 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:48.654Z,1758326628.654 [DAT](INFO): DAT read: Rx Time:00:03:49.4674

2025-09-20T00:03:48.654Z,1758326628.654 [DAT](INFO): Rx dataTimestamp_ set to:1758326628.653937
2025-09-20T00:03:48.656Z,1758326628.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980767
2025-09-20T00:03:48.905Z,1758326628.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230275
2025-09-20T00:03:49.030Z,1758326629.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T00:03:49.063Z,1758326629.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.395180 m,
      nav range: 111.640633 m,
      bearing: 257.524062 deg,
      approach rate: -0.419706 m/s,
      LOS rate: -0.024146 deg/s,
      cmd heading: 244.773435 deg,
      new cmd heading: 244.751102 deg.

2025-09-20T00:03:49.071Z,1758326629.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271713 target range: 115.395180 and range: 115.70 m.
2025-09-20T00:03:49.166Z,1758326629.166 [DAT](INFO): DAT read: 00:03:49.4674 LVL= 29392, 32753, 31602, 32755, AGC= 68, IDX= 419,-0.30, 1.747,-0.215, 1.439, 1.404, PHS= 0.445,-1.574,-0.009, RAW= 137.6,  12.4, CAL= 137.0,  13.4, ROT=  13.0, -13.4

2025-09-20T00:03:49.170Z,1758326629.170 [DAT](INFO): got valid direction response:
 00:03:49.4674 LVL= 29392, 32753, 31602, 32755, AGC= 68, IDX= 419,-0.30, 1.747,-0.215, 1.439, 1.404, PHS= 0.445,-1.574,-0.009, RAW= 137.6,  12.4, CAL= 137.0,  13.4, ROT=  13.0, -13.4

2025-09-20T00:03:49.176Z,1758326629.176 [DAT](INFO): DAT read: Bearing  35.1,  12.5 (Local)

2025-09-20T00:03:49.177Z,1758326629.177 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.1,  12.5 (Local)

2025-09-20T00:03:49.178Z,1758326629.178 [DAT](INFO): DAT read: Range 11 to 50 : 114.0 m  (Round-trip  152.1 ms) speed  0.4 m/s

2025-09-20T00:03:49.179Z,1758326629.179 [DAT](INFO): DAT read: user:696>

2025-09-20T00:03:49.179Z,1758326629.179 [DAT](INFO): DAT read: Tx time:00:03:50.5612

2025-09-20T00:03:49.184Z,1758326629.184 [DAT](INFO): Ping request sent.
2025-09-20T00:03:49.184Z,1758326629.184 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:49.186Z,1758326629.186 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:49.187Z,1758326629.187 [DAT](INFO): direction in FSK: [0.947844,0.218827,0.231748]
2025-09-20T00:03:49.187Z,1758326629.187 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:49.200Z,1758326629.200 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:49.221Z,1758326629.221 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:49.221Z,1758326629.221 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:49.484Z,1758326629.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.000000 m,
      deltaT: 3.527261 s,
      deltaX: -1.699997 m,
      approachRate: -0.481959 m/s,
      rangeRepo size: 4

2025-09-20T00:03:49.490Z,1758326629.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.699402 m,
      bearing: 258.179847 deg,
      lat: 36.779431 deg,
      lon: -121.859709 deg,
      deltaT: 3.527261 s,
      deltaX: -1.695778 m,
      approachRate: -0.480763 m/s,
      posRepo size: 4

2025-09-20T00:03:49.490Z,1758326629.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:49.497Z,1758326629.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 111.138931 m,
      bearing: 257.481539 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024146 deg/s,
      cmd heading: 244.751114 deg,
      new cmd heading: 244.728924 deg.

2025-09-20T00:03:49.498Z,1758326629.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271326 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:49.856Z,1758326629.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:49.859Z,1758326629.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 110.958969 m,
      bearing: 257.473012 deg,
      approach rate: -0.482920 m/s,
      LOS rate: -0.022919 deg/s,
      cmd heading: 244.728929 deg,
      new cmd heading: 244.711847 deg.

2025-09-20T00:03:49.860Z,1758326629.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271028 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:50.278Z,1758326630.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:50.280Z,1758326630.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:50.283Z,1758326630.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 110.756760 m,
      bearing: 257.465253 deg,
      approach rate: -0.476709 m/s,
      LOS rate: -0.018325 deg/s,
      cmd heading: 244.711854 deg,
      new cmd heading: 244.696308 deg.

2025-09-20T00:03:50.284Z,1758326630.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270756 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:50.417Z,1758326630.417 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:50.417Z,1758326630.417 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:50.417Z,1758326630.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:50.669Z,1758326630.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485565
2025-09-20T00:03:50.679Z,1758326630.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:50.702Z,1758326630.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 110.566086 m,
      bearing: 257.457867 deg,
      approach rate: -0.477712 m/s,
      LOS rate: -0.018539 deg/s,
      cmd heading: 244.696308 deg,
      new cmd heading: 244.681509 deg.

2025-09-20T00:03:50.703Z,1758326630.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270498 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:50.805Z,1758326630.805 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:03:50.921Z,1758326630.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737366
2025-09-20T00:03:51.151Z,1758326631.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:51.166Z,1758326631.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 110.351425 m,
      bearing: 257.450108 deg,
      approach rate: -0.455783 m/s,
      LOS rate: -0.016505 deg/s,
      cmd heading: 244.681500 deg,
      new cmd heading: 244.665953 deg.

2025-09-20T00:03:51.167Z,1758326631.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270226 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:51.176Z,1758326631.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992964
2025-09-20T00:03:51.425Z,1758326631.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241884
2025-09-20T00:03:51.529Z,1758326631.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:51.532Z,1758326631.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 110.159088 m,
      bearing: 257.443137 deg,
      approach rate: -0.507000 m/s,
      LOS rate: -0.018409 deg/s,
      cmd heading: 244.665955 deg,
      new cmd heading: 244.651987 deg.

2025-09-20T00:03:51.533Z,1758326631.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269983 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:51.677Z,1758326631.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493392
2025-09-20T00:03:51.808Z,1758326631.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:03:51.929Z,1758326631.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745495
2025-09-20T00:03:51.952Z,1758326631.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:51.959Z,1758326631.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 109.968475 m,
      bearing: 257.436199 deg,
      approach rate: -0.451314 m/s,
      LOS rate: -0.016454 deg/s,
      cmd heading: 244.651994 deg,
      new cmd heading: 244.638095 deg.

2025-09-20T00:03:51.960Z,1758326631.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269740 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:52.181Z,1758326632.181 [DAT](INFO): DAT read: Rx Time:00:03:53.1152

2025-09-20T00:03:52.181Z,1758326632.181 [DAT](INFO): Rx dataTimestamp_ set to:1758326632.181056
2025-09-20T00:03:52.182Z,1758326632.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998472
2025-09-20T00:03:52.347Z,1758326632.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:52.365Z,1758326632.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:52.368Z,1758326632.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 109.765259 m,
      bearing: 257.429230 deg,
      approach rate: -0.491085 m/s,
      LOS rate: -0.016872 deg/s,
      cmd heading: 244.638088 deg,
      new cmd heading: 244.624124 deg.

2025-09-20T00:03:52.369Z,1758326632.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269496 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:52.434Z,1758326632.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250379
2025-09-20T00:03:52.688Z,1758326632.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504345
2025-09-20T00:03:52.793Z,1758326632.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m.
2025-09-20T00:03:52.796Z,1758326632.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.699402 m,
      nav range: 109.557533 m,
      bearing: 257.422080 deg,
      approach rate: -0.485383 m/s,
      LOS rate: -0.016739 deg/s,
      cmd heading: 244.624127 deg,
      new cmd heading: 244.609799 deg.

2025-09-20T00:03:52.797Z,1758326632.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269247 target range: 113.699402 and range: 114.00 m.
2025-09-20T00:03:52.947Z,1758326632.947 [DAT](INFO): DAT read: 00:03:53.1152 LVL= 28128, 32577, 28914, 32755, AGC= 69, IDX= 411,-0.13,-1.193, 3.099,-1.511,-1.601, PHS= 0.510,-1.538, 0.047, RAW= 137.5,  10.6, CAL= 137.1,  11.6, ROT=  12.9, -11.6

2025-09-20T00:03:52.948Z,1758326632.948 [DAT](INFO): got valid direction response:
 00:03:53.1152 LVL= 28128, 32577, 28914, 32755, AGC= 69, IDX= 411,-0.13,-1.193, 3.099,-1.511,-1.601, PHS= 0.510,-1.538, 0.047, RAW= 137.5,  10.6, CAL= 137.1,  11.6, ROT=  12.9, -11.6

2025-09-20T00:03:52.949Z,1758326632.949 [DAT](INFO): DAT read: Bearing  33.1,  11.7 (Local)

2025-09-20T00:03:52.949Z,1758326632.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.1,  11.7 (Local)

2025-09-20T00:03:52.951Z,1758326632.951 [DAT](INFO): DAT read: Range 11 to 50 : 112.4 m  (Round-trip  149.9 ms) speed  0.4 m/s

2025-09-20T00:03:52.951Z,1758326632.951 [DAT](INFO): DAT read: user:697>

2025-09-20T00:03:52.952Z,1758326632.952 [DAT](INFO): DAT read: Tx time:00:03:54.2112

2025-09-20T00:03:52.952Z,1758326632.952 [DAT](INFO): Ping request sent.
2025-09-20T00:03:52.953Z,1758326632.953 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:52.953Z,1758326632.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:52.954Z,1758326632.954 [DAT](INFO): direction in FSK: [0.954852,0.218690,0.201078]
2025-09-20T00:03:52.954Z,1758326632.954 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:52.954Z,1758326632.954 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:52.983Z,1758326632.983 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:52.983Z,1758326632.983 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:53.260Z,1758326633.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.400002 m,
      deltaT: 3.783737 s,
      deltaX: -1.599998 m,
      approachRate: -0.422862 m/s,
      rangeRepo size: 4

2025-09-20T00:03:53.262Z,1758326633.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.103325 m,
      bearing: 257.988356 deg,
      lat: 36.779431 deg,
      lon: -121.859709 deg,
      deltaT: 3.783737 s,
      deltaX: -1.596077 m,
      approachRate: -0.421826 m/s,
      posRepo size: 4

2025-09-20T00:03:53.263Z,1758326633.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:53.296Z,1758326633.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 109.325439 m,
      bearing: 257.415601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016739 deg/s,
      cmd heading: 244.609811 deg,
      new cmd heading: 244.594354 deg.

2025-09-20T00:03:53.297Z,1758326633.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268977 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:53.611Z,1758326633.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:53.614Z,1758326633.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 109.133553 m,
      bearing: 257.410391 deg,
      approach rate: -0.539085 m/s,
      LOS rate: -0.014661 deg/s,
      cmd heading: 244.594347 deg,
      new cmd heading: 244.583910 deg.

2025-09-20T00:03:53.615Z,1758326633.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268795 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:54.021Z,1758326634.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:54.023Z,1758326634.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 108.924530 m,
      bearing: 257.404750 deg,
      approach rate: -0.510046 m/s,
      LOS rate: -0.013791 deg/s,
      cmd heading: 244.583911 deg,
      new cmd heading: 244.572607 deg.

2025-09-20T00:03:54.025Z,1758326634.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268597 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:54.472Z,1758326634.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:54.474Z,1758326634.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:54.485Z,1758326634.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 108.693802 m,
      bearing: 257.397620 deg,
      approach rate: -0.508983 m/s,
      LOS rate: -0.015763 deg/s,
      cmd heading: 244.572600 deg,
      new cmd heading: 244.558309 deg.

2025-09-20T00:03:54.486Z,1758326634.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268348 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:54.705Z,1758326634.705 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:54.705Z,1758326634.705 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:54.705Z,1758326634.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:54.822Z,1758326634.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:54.825Z,1758326634.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 108.507126 m,
      bearing: 257.391898 deg,
      approach rate: -0.536700 m/s,
      LOS rate: -0.016480 deg/s,
      cmd heading: 244.558311 deg,
      new cmd heading: 244.546847 deg.

2025-09-20T00:03:54.826Z,1758326634.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268147 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:54.957Z,1758326634.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004525
2025-09-20T00:03:55.209Z,1758326635.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256336
2025-09-20T00:03:55.246Z,1758326635.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:55.249Z,1758326635.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 108.278732 m,
      bearing: 257.383938 deg,
      approach rate: -0.538866 m/s,
      LOS rate: -0.018820 deg/s,
      cmd heading: 244.546836 deg,
      new cmd heading: 244.530883 deg.

2025-09-20T00:03:55.250Z,1758326635.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.267869 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:55.461Z,1758326635.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508813
2025-09-20T00:03:55.620Z,1758326635.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:55.623Z,1758326635.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 108.077263 m,
      bearing: 257.376976 deg,
      approach rate: -0.538206 m/s,
      LOS rate: -0.018632 deg/s,
      cmd heading: 244.530881 deg,
      new cmd heading: 244.516932 deg.

2025-09-20T00:03:55.625Z,1758326635.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.267625 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:55.714Z,1758326635.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761216
2025-09-20T00:03:55.965Z,1758326635.965 [DAT](INFO): DAT read: Rx Time:00:03:56.7624

2025-09-20T00:03:55.965Z,1758326635.965 [DAT](INFO): Rx dataTimestamp_ set to:1758326635.965210
2025-09-20T00:03:55.966Z,1758326635.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013472
2025-09-20T00:03:56.055Z,1758326636.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:56.058Z,1758326636.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 107.843346 m,
      bearing: 257.369028 deg,
      approach rate: -0.537299 m/s,
      LOS rate: -0.018297 deg/s,
      cmd heading: 244.516920 deg,
      new cmd heading: 244.500988 deg.

2025-09-20T00:03:56.059Z,1758326636.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.267347 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:56.217Z,1758326636.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264312
2025-09-20T00:03:56.447Z,1758326636.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m.
2025-09-20T00:03:56.450Z,1758326636.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.103325 m,
      nav range: 107.633621 m,
      bearing: 257.361728 deg,
      approach rate: -0.535065 m/s,
      LOS rate: -0.018659 deg/s,
      cmd heading: 244.500992 deg,
      new cmd heading: 244.486365 deg.

2025-09-20T00:03:56.451Z,1758326636.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.267092 target range: 112.103325 and range: 112.40 m.
2025-09-20T00:03:56.475Z,1758326636.475 [DAT](INFO): DAT read: 00:03:56.7624 LVL= 30240, 32753, 32658, 32755, AGC= 66, IDX= 415, 0.43, 2.353, 0.486, 2.041, 1.972, PHS= 0.483,-1.441, 0.025, RAW= 136.8,  10.7, CAL= 136.4,  11.8, ROT=  13.6, -11.8

2025-09-20T00:03:56.476Z,1758326636.476 [DAT](INFO): got valid direction response:
 00:03:56.7624 LVL= 30240, 32753, 32658, 32755, AGC= 66, IDX= 415, 0.43, 2.353, 0.486, 2.041, 1.972, PHS= 0.483,-1.441, 0.025, RAW= 136.8,  10.7, CAL= 136.4,  11.8, ROT=  13.6, -11.8

2025-09-20T00:03:56.477Z,1758326636.477 [DAT](INFO): DAT read: Bearing  33.2,  12.0 (Local)

2025-09-20T00:03:56.477Z,1758326636.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.2,  12.0 (Local)

2025-09-20T00:03:56.479Z,1758326636.479 [DAT](INFO): DAT read: Range 11 to 50 : 110.3 m  (Round-trip  147.1 ms) speed  0.4 m/s

2025-09-20T00:03:56.479Z,1758326636.479 [DAT](INFO): DAT read: user:698>

2025-09-20T00:03:56.480Z,1758326636.480 [DAT](INFO): DAT read: Tx time:00:03:57.8611

2025-09-20T00:03:56.481Z,1758326636.481 [DAT](INFO): Ping request sent.
2025-09-20T00:03:56.481Z,1758326636.481 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:03:56.481Z,1758326636.481 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:03:56.482Z,1758326636.482 [DAT](INFO): direction in FSK: [0.951421,0.230173,0.204496]
2025-09-20T00:03:56.482Z,1758326636.482 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:56.482Z,1758326636.482 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:56.486Z,1758326636.486 [DAT](INFO): publishing transmit ping time
2025-09-20T00:03:56.486Z,1758326636.486 [DAT](INFO): publishing direction and range info
2025-09-20T00:03:56.854Z,1758326636.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.300003 m,
      deltaT: 3.528062 s,
      deltaX: -2.099998 m,
      approachRate: -0.595227 m/s,
      rangeRepo size: 4

2025-09-20T00:03:56.856Z,1758326636.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.009048 m,
      bearing: 258.191635 deg,
      lat: 36.779439 deg,
      lon: -121.859709 deg,
      deltaT: 3.528062 s,
      deltaX: -2.094276 m,
      approachRate: -0.593605 m/s,
      posRepo size: 4

2025-09-20T00:03:56.857Z,1758326636.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.01 m.
2025-09-20T00:03:56.860Z,1758326636.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.009048 m,
      nav range: 107.224251 m,
      bearing: 257.826812 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018659 deg/s,
      cmd heading: 244.486375 deg,
      new cmd heading: 244.471228 deg.

2025-09-20T00:03:56.861Z,1758326636.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266828 target range: 110.009048 and range: 110.30 m.
2025-09-20T00:03:57.277Z,1758326637.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:57.279Z,1758326637.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.01 m.
2025-09-20T00:03:57.282Z,1758326637.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.009048 m,
      nav range: 107.002487 m,
      bearing: 257.819527 deg,
      approach rate: -0.521006 m/s,
      LOS rate: -0.017150 deg/s,
      cmd heading: 244.471240 deg,
      new cmd heading: 244.456640 deg.

2025-09-20T00:03:57.283Z,1758326637.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266573 target range: 110.009048 and range: 110.30 m.
2025-09-20T00:03:57.477Z,1758326637.477 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:03:57.477Z,1758326637.477 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:03:57.477Z,1758326637.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:03:57.665Z,1758326637.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.01 m.
2025-09-20T00:03:57.667Z,1758326637.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.009048 m,
      nav range: 106.803169 m,
      bearing: 257.813145 deg,
      approach rate: -0.516681 m/s,
      LOS rate: -0.016575 deg/s,
      cmd heading: 244.456650 deg,
      new cmd heading: 244.443863 deg.

2025-09-20T00:03:57.669Z,1758326637.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266350 target range: 110.009048 and range: 110.30 m.
2025-09-20T00:03:57.730Z,1758326637.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249171
2025-09-20T00:03:57.984Z,1758326637.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502946
2025-09-20T00:03:58.061Z,1758326638.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.01 m.
2025-09-20T00:03:58.064Z,1758326638.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.009048 m,
      nav range: 106.598640 m,
      bearing: 257.806571 deg,
      approach rate: -0.516207 m/s,
      LOS rate: -0.016623 deg/s,
      cmd heading: 244.443864 deg,
      new cmd heading: 244.430692 deg.

2025-09-20T00:03:58.065Z,1758326638.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266120 target range: 110.009048 and range: 110.30 m.
2025-09-20T00:03:58.233Z,1758326638.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752049
2025-09-20T00:03:58.485Z,1758326638.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004129
2025-09-20T00:03:58.490Z,1758326638.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.01 m.
2025-09-20T00:03:58.493Z,1758326638.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.009048 m,
      nav range: 106.391289 m,
      bearing: 257.799309 deg,
      approach rate: -0.483671 m/s,
      LOS rate: -0.016973 deg/s,
      cmd heading: 244.430696 deg,
      new cmd heading: 244.416143 deg.

2025-09-20T00:03:58.494Z,1758326638.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265866 target range: 110.009048 and range: 110.30 m.
2025-09-20T00:03:58.738Z,1758326638.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256922
2025-09-20T00:03:58.853Z,1758326638.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.01 m.
2025-09-20T00:03:58.856Z,1758326638.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.009048 m,
      nav range: 106.214211 m,
      bearing: 257.793147 deg,
      approach rate: -0.487180 m/s,
      LOS rate: -0.016980 deg/s,
      cmd heading: 244.416134 deg,
      new cmd heading: 244.403790 deg.

2025-09-20T00:03:58.857Z,1758326638.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265651 target range: 110.009048 and range: 110.30 m.
2025-09-20T00:03:58.989Z,1758326638.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508165
2025-09-20T00:03:59.241Z,1758326639.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760127
2025-09-20T00:03:59.283Z,1758326639.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:03:59.285Z,1758326639.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.01 m.
2025-09-20T00:03:59.288Z,1758326639.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.009048 m,
      nav range: 106.003128 m,
      bearing: 257.790884 deg,
      approach rate: -0.488256 m/s,
      LOS rate: -0.005245 deg/s,
      cmd heading: 244.403785 deg,
      new cmd heading: 244.399250 deg.

2025-09-20T00:03:59.289Z,1758326639.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265572 target range: 110.009048 and range: 110.30 m.
2025-09-20T00:03:59.494Z,1758326639.494 [DAT](INFO): DAT read: Rx Time:00:04:00.4100

2025-09-20T00:03:59.495Z,1758326639.495 [DAT](INFO): Rx dataTimestamp_ set to:1758326639.494243
2025-09-20T00:03:59.495Z,1758326639.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014267
2025-09-20T00:03:59.672Z,1758326639.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.01 m.
2025-09-20T00:03:59.675Z,1758326639.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.009048 m,
      nav range: 105.813889 m,
      bearing: 257.788816 deg,
      approach rate: -0.489092 m/s,
      LOS rate: -0.005356 deg/s,
      cmd heading: 244.399250 deg,
      new cmd heading: 244.395105 deg.

2025-09-20T00:03:59.676Z,1758326639.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265499 target range: 110.009048 and range: 110.30 m.
2025-09-20T00:03:59.750Z,1758326639.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269171
2025-09-20T00:04:00.018Z,1758326640.018 [DAT](INFO): DAT read: 00:04:00.4100 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 424,-0.36,-2.897, 1.476, 3.032, 3.016, PHS= 0.472,-1.495,-0.028, RAW= 135.8,  11.9, CAL= 135.3,  12.9, ROT=  14.7, -12.9

2025-09-20T00:04:00.019Z,1758326640.019 [DAT](INFO): got valid direction response:
 00:04:00.4100 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 424,-0.36,-2.897, 1.476, 3.032, 3.016, PHS= 0.472,-1.495,-0.028, RAW= 135.8,  11.9, CAL= 135.3,  12.9, ROT=  14.7, -12.9

2025-09-20T00:04:00.020Z,1758326640.020 [DAT](INFO): DAT read: Bearing  34.0,  12.6 (Local)

2025-09-20T00:04:00.020Z,1758326640.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.0,  12.6 (Local)

2025-09-20T00:04:00.022Z,1758326640.022 [DAT](INFO): DAT read: Range 11 to 50 : 108.6 m  (Round-trip  144.8 ms) speed  0.4 m/s

2025-09-20T00:04:00.022Z,1758326640.022 [DAT](INFO): DAT read: user:699>

2025-09-20T00:04:00.023Z,1758326640.023 [DAT](INFO): DAT read: Tx time:00:04:01.5111

2025-09-20T00:04:00.023Z,1758326640.023 [DAT](INFO): Ping request sent.
2025-09-20T00:04:00.023Z,1758326640.023 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:00.024Z,1758326640.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:00.025Z,1758326640.025 [DAT](INFO): direction in FSK: [0.942855,0.247353,0.223250]
2025-09-20T00:04:00.026Z,1758326640.026 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:00.026Z,1758326640.026 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:00.029Z,1758326640.029 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:00.029Z,1758326640.029 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:00.345Z,1758326640.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.599998 m,
      deltaT: 3.533834 s,
      deltaX: -1.700005 m,
      approachRate: -0.481065 m/s,
      rangeRepo size: 4

2025-09-20T00:04:00.347Z,1758326640.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.313705 m,
      bearing: 259.187561 deg,
      lat: 36.779444 deg,
      lon: -121.859720 deg,
      deltaT: 3.533834 s,
      deltaX: -1.695343 m,
      approachRate: -0.479746 m/s,
      posRepo size: 4

2025-09-20T00:04:00.352Z,1758326640.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:00.355Z,1758326640.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 106.363411 m,
      bearing: 258.152752 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005356 deg/s,
      cmd heading: 244.395097 deg,
      new cmd heading: 244.387946 deg.

2025-09-20T00:04:00.360Z,1758326640.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265374 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:00.722Z,1758326640.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:00.727Z,1758326640.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 106.180939 m,
      bearing: 258.148716 deg,
      approach rate: -0.477449 m/s,
      LOS rate: -0.010579 deg/s,
      cmd heading: 244.387939 deg,
      new cmd heading: 244.379852 deg.

2025-09-20T00:04:00.729Z,1758326640.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265233 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:01.123Z,1758326641.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:01.128Z,1758326641.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 105.999626 m,
      bearing: 258.144634 deg,
      approach rate: -0.452209 m/s,
      LOS rate: -0.010199 deg/s,
      cmd heading: 244.379852 deg,
      new cmd heading: 244.371674 deg.

2025-09-20T00:04:01.130Z,1758326641.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265090 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:01.602Z,1758326641.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:01.621Z,1758326641.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:01.629Z,1758326641.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 105.779488 m,
      bearing: 258.144137 deg,
      approach rate: -0.457862 m/s,
      LOS rate: -0.001036 deg/s,
      cmd heading: 244.371683 deg,
      new cmd heading: 244.370687 deg.

2025-09-20T00:04:01.636Z,1758326641.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265073 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:01.765Z,1758326641.765 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:01.765Z,1758326641.765 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:01.765Z,1758326641.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:01.961Z,1758326641.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:01.964Z,1758326641.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 105.616905 m,
      bearing: 258.143627 deg,
      approach rate: -0.454606 m/s,
      LOS rate: -0.001428 deg/s,
      cmd heading: 244.370699 deg,
      new cmd heading: 244.369678 deg.

2025-09-20T00:04:01.965Z,1758326641.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265056 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:02.017Z,1758326642.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993600
2025-09-20T00:04:02.269Z,1758326642.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245416
2025-09-20T00:04:02.398Z,1758326642.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:02.401Z,1758326642.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 105.413055 m,
      bearing: 258.141159 deg,
      approach rate: -0.467029 m/s,
      LOS rate: -0.005666 deg/s,
      cmd heading: 244.369689 deg,
      new cmd heading: 244.364742 deg.

2025-09-20T00:04:02.402Z,1758326642.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264969 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:02.521Z,1758326642.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497623
2025-09-20T00:04:02.773Z,1758326642.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749496
2025-09-20T00:04:02.778Z,1758326642.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:02.781Z,1758326642.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 105.236343 m,
      bearing: 258.138949 deg,
      approach rate: -0.465296 m/s,
      LOS rate: -0.005829 deg/s,
      cmd heading: 244.364743 deg,
      new cmd heading: 244.360316 deg.

2025-09-20T00:04:02.782Z,1758326642.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264892 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:03.026Z,1758326643.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002862
2025-09-20T00:04:03.195Z,1758326643.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:03.198Z,1758326643.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 105.050232 m,
      bearing: 258.136584 deg,
      approach rate: -0.446436 m/s,
      LOS rate: -0.005681 deg/s,
      cmd heading: 244.360317 deg,
      new cmd heading: 244.355581 deg.

2025-09-20T00:04:03.199Z,1758326643.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264810 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:03.277Z,1758326643.277 [DAT](INFO): DAT read: Rx Time:00:04:04.0578

2025-09-20T00:04:03.278Z,1758326643.278 [DAT](INFO): Rx dataTimestamp_ set to:1758326643.277242
2025-09-20T00:04:03.278Z,1758326643.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254653
2025-09-20T00:04:03.529Z,1758326643.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505581
2025-09-20T00:04:03.703Z,1758326643.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:03.709Z,1758326643.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.31 m.
2025-09-20T00:04:03.716Z,1758326643.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.313705 m,
      nav range: 104.798103 m,
      bearing: 258.133724 deg,
      approach rate: -0.489903 m/s,
      LOS rate: -0.005571 deg/s,
      cmd heading: 244.355591 deg,
      new cmd heading: 244.349857 deg.

2025-09-20T00:04:03.717Z,1758326643.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264709 target range: 108.313705 and range: 108.60 m.
2025-09-20T00:04:03.787Z,1758326643.787 [DAT](INFO): DAT read: 00:04:04.0578 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.16, 0.157,-1.854,-0.180,-0.211, PHS= 0.470,-1.598,-0.013, RAW= 137.1,  12.2, CAL= 136.5,  13.2, ROT=  13.5, -13.2

2025-09-20T00:04:03.789Z,1758326643.789 [DAT](INFO): got valid direction response:
 00:04:04.0578 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.16, 0.157,-1.854,-0.180,-0.211, PHS= 0.470,-1.598,-0.013, RAW= 137.1,  12.2, CAL= 136.5,  13.2, ROT=  13.5, -13.2

2025-09-20T00:04:03.790Z,1758326643.790 [DAT](INFO): DAT read: Bearing  34.2,  11.2 (Local)

2025-09-20T00:04:03.790Z,1758326643.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.2,  11.2 (Local)

2025-09-20T00:04:03.791Z,1758326643.791 [DAT](INFO): DAT read: Range 11 to 50 : 106.8 m  (Round-trip  142.5 ms) speed  0.4 m/s

2025-09-20T00:04:03.792Z,1758326643.792 [DAT](INFO): DAT read: user:700>

2025-09-20T00:04:03.793Z,1758326643.793 [DAT](INFO): DAT read: Tx time:00:04:05.1611

2025-09-20T00:04:03.793Z,1758326643.793 [DAT](INFO): Ping request sent.
2025-09-20T00:04:03.793Z,1758326643.793 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:03.794Z,1758326643.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:03.795Z,1758326643.795 [DAT](INFO): direction in FSK: [0.946679,0.227277,0.228351]
2025-09-20T00:04:03.795Z,1758326643.795 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:03.795Z,1758326643.795 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:03.802Z,1758326643.802 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:03.802Z,1758326643.802 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:04.142Z,1758326644.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.800003 m,
      deltaT: 3.778060 s,
      deltaX: -1.799995 m,
      approachRate: -0.476434 m/s,
      rangeRepo size: 4

2025-09-20T00:04:04.147Z,1758326644.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.518044 m,
      bearing: 258.238347 deg,
      lat: 36.779444 deg,
      lon: -121.859720 deg,
      deltaT: 3.778060 s,
      deltaX: -1.795662 m,
      approachRate: -0.475287 m/s,
      posRepo size: 4

2025-09-20T00:04:04.148Z,1758326644.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.52 m.
2025-09-20T00:04:04.155Z,1758326644.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.518044 m,
      nav range: 104.596146 m,
      bearing: 258.147032 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005571 deg/s,
      cmd heading: 244.349854 deg,
      new cmd heading: 244.345037 deg.

2025-09-20T00:04:04.155Z,1758326644.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264626 target range: 106.518044 and range: 106.80 m.
2025-09-20T00:04:04.623Z,1758326644.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.52 m.
2025-09-20T00:04:04.640Z,1758326644.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.518044 m,
      nav range: 104.344727 m,
      bearing: 258.141784 deg,
      approach rate: -0.521915 m/s,
      LOS rate: -0.010920 deg/s,
      cmd heading: 244.345045 deg,
      new cmd heading: 244.334524 deg.

2025-09-20T00:04:04.641Z,1758326644.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264442 target range: 106.518044 and range: 106.80 m.
2025-09-20T00:04:04.991Z,1758326644.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.52 m.
2025-09-20T00:04:04.994Z,1758326644.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.518044 m,
      nav range: 104.139381 m,
      bearing: 258.137556 deg,
      approach rate: -0.558050 m/s,
      LOS rate: -0.011513 deg/s,
      cmd heading: 244.334527 deg,
      new cmd heading: 244.326054 deg.

2025-09-20T00:04:04.995Z,1758326644.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264294 target range: 106.518044 and range: 106.80 m.
2025-09-20T00:04:05.424Z,1758326645.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.52 m.
2025-09-20T00:04:05.427Z,1758326645.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.518044 m,
      nav range: 103.909996 m,
      bearing: 258.131608 deg,
      approach rate: -0.529542 m/s,
      LOS rate: -0.013762 deg/s,
      cmd heading: 244.326057 deg,
      new cmd heading: 244.314135 deg.

2025-09-20T00:04:05.428Z,1758326645.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264086 target range: 106.518044 and range: 106.80 m.
2025-09-20T00:04:05.798Z,1758326645.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:05.801Z,1758326645.801 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:05.801Z,1758326645.801 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:05.801Z,1758326645.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:05.803Z,1758326645.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.52 m.
2025-09-20T00:04:05.806Z,1758326645.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.518044 m,
      nav range: 103.709770 m,
      bearing: 258.126537 deg,
      approach rate: -0.533443 m/s,
      LOS rate: -0.013537 deg/s,
      cmd heading: 244.314145 deg,
      new cmd heading: 244.303984 deg.

2025-09-20T00:04:05.807Z,1758326645.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263909 target range: 106.518044 and range: 106.80 m.
2025-09-20T00:04:06.054Z,1758326646.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260945
2025-09-20T00:04:06.213Z,1758326646.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.52 m.
2025-09-20T00:04:06.220Z,1758326646.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.518044 m,
      nav range: 103.490280 m,
      bearing: 258.121085 deg,
      approach rate: -0.531133 m/s,
      LOS rate: -0.013220 deg/s,
      cmd heading: 244.303982 deg,
      new cmd heading: 244.293055 deg.

2025-09-20T00:04:06.221Z,1758326646.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263718 target range: 106.518044 and range: 106.80 m.
2025-09-20T00:04:06.306Z,1758326646.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512337
2025-09-20T00:04:06.557Z,1758326646.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763377
2025-09-20T00:04:06.647Z,1758326646.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.52 m.
2025-09-20T00:04:06.650Z,1758326646.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.518044 m,
      nav range: 103.257011 m,
      bearing: 258.113029 deg,
      approach rate: -0.538102 m/s,
      LOS rate: -0.018625 deg/s,
      cmd heading: 244.293054 deg,
      new cmd heading: 244.276905 deg.

2025-09-20T00:04:06.651Z,1758326646.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263436 target range: 106.518044 and range: 106.80 m.
2025-09-20T00:04:06.809Z,1758326646.809 [DAT](INFO): DAT read: Rx Time:00:04:07.7051

2025-09-20T00:04:06.810Z,1758326646.810 [DAT](INFO): Rx dataTimestamp_ set to:1758326646.809466
2025-09-20T00:04:06.810Z,1758326646.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016883
2025-09-20T00:04:07.019Z,1758326647.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.52 m.
2025-09-20T00:04:07.022Z,1758326647.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.518044 m,
      nav range: 103.062538 m,
      bearing: 258.106377 deg,
      approach rate: -0.522483 m/s,
      LOS rate: -0.017905 deg/s,
      cmd heading: 244.276907 deg,
      new cmd heading: 244.263579 deg.

2025-09-20T00:04:07.023Z,1758326647.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263204 target range: 106.518044 and range: 106.80 m.
2025-09-20T00:04:07.062Z,1758326647.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267863
2025-09-20T00:04:07.332Z,1758326647.332 [DAT](INFO): DAT read: 00:04:07.7051 LVL= 28736, 32753, 32754, 32755, AGC= 70, IDX= 421, 0.34,-3.116, 1.231, 2.802, 2.780, PHS= 0.489,-1.505,-0.023, RAW= 135.7,  11.6, CAL= 135.2,  12.6, ROT=  14.8, -12.6

2025-09-20T00:04:07.333Z,1758326647.333 [DAT](INFO): got valid direction response:
 00:04:07.7051 LVL= 28736, 32753, 32754, 32755, AGC= 70, IDX= 421, 0.34,-3.116, 1.231, 2.802, 2.780, PHS= 0.489,-1.505,-0.023, RAW= 135.7,  11.6, CAL= 135.2,  12.6, ROT=  14.8, -12.6

2025-09-20T00:04:07.334Z,1758326647.334 [DAT](INFO): DAT read: Bearing  33.6,  12.4 (Local)

2025-09-20T00:04:07.334Z,1758326647.334 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.6,  12.4 (Local)

2025-09-20T00:04:07.335Z,1758326647.335 [DAT](INFO): DAT read: Range 11 to 50 : 104.9 m  (Round-trip  139.9 ms) speed  0.4 m/s

2025-09-20T00:04:07.336Z,1758326647.336 [DAT](INFO): DAT read: user:701>

2025-09-20T00:04:07.337Z,1758326647.337 [DAT](INFO): DAT read: Tx time:00:04:08.8111

2025-09-20T00:04:07.337Z,1758326647.337 [DAT](INFO): Ping request sent.
2025-09-20T00:04:07.337Z,1758326647.337 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:07.338Z,1758326647.338 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:07.339Z,1758326647.339 [DAT](INFO): direction in FSK: [0.943539,0.249294,0.218143]
2025-09-20T00:04:07.339Z,1758326647.339 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:07.339Z,1758326647.339 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:07.342Z,1758326647.342 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:07.343Z,1758326647.343 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:07.536Z,1758326647.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.900002 m,
      deltaT: 3.533289 s,
      deltaX: -1.900002 m,
      approachRate: -0.537743 m/s,
      rangeRepo size: 4

2025-09-20T00:04:07.538Z,1758326647.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.622955 m,
      bearing: 259.091577 deg,
      lat: 36.779446 deg,
      lon: -121.859720 deg,
      deltaT: 3.533289 s,
      deltaX: -1.895088 m,
      approachRate: -0.536352 m/s,
      posRepo size: 4

2025-09-20T00:04:07.539Z,1758326647.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:07.546Z,1758326647.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 102.775764 m,
      bearing: 258.212271 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017905 deg/s,
      cmd heading: 244.263575 deg,
      new cmd heading: 244.245224 deg.

2025-09-20T00:04:07.547Z,1758326647.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262883 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:07.861Z,1758326647.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:07.863Z,1758326647.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:07.866Z,1758326647.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 102.595497 m,
      bearing: 258.206924 deg,
      approach rate: -0.542707 m/s,
      LOS rate: -0.016126 deg/s,
      cmd heading: 244.245215 deg,
      new cmd heading: 244.234502 deg.

2025-09-20T00:04:07.867Z,1758326647.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262696 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:08.072Z,1758326648.072 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:08.072Z,1758326648.072 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:08.073Z,1758326648.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:08.324Z,1758326648.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985774
2025-09-20T00:04:08.329Z,1758326648.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:08.336Z,1758326648.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 102.377991 m,
      bearing: 258.200583 deg,
      approach rate: -0.466941 m/s,
      LOS rate: -0.013641 deg/s,
      cmd heading: 244.234505 deg,
      new cmd heading: 244.221797 deg.

2025-09-20T00:04:08.337Z,1758326648.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262475 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:08.573Z,1758326648.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235474
2025-09-20T00:04:08.715Z,1758326648.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:08.718Z,1758326648.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 102.153214 m,
      bearing: 258.195992 deg,
      approach rate: -0.582036 m/s,
      LOS rate: -0.011915 deg/s,
      cmd heading: 244.221801 deg,
      new cmd heading: 244.212598 deg.

2025-09-20T00:04:08.719Z,1758326648.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262314 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:08.826Z,1758326648.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488069
2025-09-20T00:04:09.077Z,1758326649.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739689
2025-09-20T00:04:09.113Z,1758326649.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:09.122Z,1758326649.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 101.964874 m,
      bearing: 258.192147 deg,
      approach rate: -0.479780 m/s,
      LOS rate: -0.009813 deg/s,
      cmd heading: 244.212594 deg,
      new cmd heading: 244.204890 deg.

2025-09-20T00:04:09.128Z,1758326649.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262179 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:09.332Z,1758326649.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993312
2025-09-20T00:04:09.496Z,1758326649.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:09.499Z,1758326649.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 101.761620 m,
      bearing: 258.187603 deg,
      approach rate: -0.523690 m/s,
      LOS rate: -0.011731 deg/s,
      cmd heading: 244.204890 deg,
      new cmd heading: 244.195784 deg.

2025-09-20T00:04:09.520Z,1758326649.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262021 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:09.582Z,1758326649.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244347
2025-09-20T00:04:09.833Z,1758326649.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495374
2025-09-20T00:04:09.891Z,1758326649.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:09.893Z,1758326649.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:09.897Z,1758326649.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 101.567642 m,
      bearing: 258.183263 deg,
      approach rate: -0.488198 m/s,
      LOS rate: -0.010943 deg/s,
      cmd heading: 244.195792 deg,
      new cmd heading: 244.187096 deg.

2025-09-20T00:04:09.897Z,1758326649.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261869 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:10.085Z,1758326650.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747573
2025-09-20T00:04:10.339Z,1758326650.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000965
2025-09-20T00:04:10.360Z,1758326650.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:10.363Z,1758326650.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 101.371094 m,
      bearing: 258.178840 deg,
      approach rate: -0.428735 m/s,
      LOS rate: -0.009667 deg/s,
      cmd heading: 244.187104 deg,
      new cmd heading: 244.178241 deg.

2025-09-20T00:04:10.372Z,1758326650.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261714 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:10.589Z,1758326650.589 [DAT](INFO): DAT read: Rx Time:00:04:11.3529

2025-09-20T00:04:10.590Z,1758326650.590 [DAT](INFO): Rx dataTimestamp_ set to:1758326650.589552
2025-09-20T00:04:10.591Z,1758326650.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253083
2025-09-20T00:04:10.742Z,1758326650.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.62 m.
2025-09-20T00:04:10.750Z,1758326650.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.622955 m,
      nav range: 101.170952 m,
      bearing: 258.176796 deg,
      approach rate: -0.513086 m/s,
      LOS rate: -0.005252 deg/s,
      cmd heading: 244.178252 deg,
      new cmd heading: 244.174155 deg.

2025-09-20T00:04:10.761Z,1758326650.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261643 target range: 104.622955 and range: 104.90 m.
2025-09-20T00:04:10.842Z,1758326650.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504092
2025-09-20T00:04:11.102Z,1758326651.102 [DAT](INFO): DAT read: 00:04:11.3529 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414,-0.24, 0.369,-1.501, 0.021, 0.036, PHS= 0.435,-1.492,-0.059, RAW= 135.7,  12.8, CAL= 135.0,  13.9, ROT=  15.0, -13.9

2025-09-20T00:04:11.109Z,1758326651.109 [DAT](INFO): got valid direction response:
 00:04:11.3529 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414,-0.24, 0.369,-1.501, 0.021, 0.036, PHS= 0.435,-1.492,-0.059, RAW= 135.7,  12.8, CAL= 135.0,  13.9, ROT=  15.0, -13.9

2025-09-20T00:04:11.110Z,1758326651.110 [DAT](INFO): DAT read: Bearing  34.6,  12.1 (Local)

2025-09-20T00:04:11.111Z,1758326651.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.6,  12.1 (Local)

2025-09-20T00:04:11.113Z,1758326651.113 [DAT](INFO): DAT read: Range 11 to 50 : 103.2 m  (Round-trip  137.6 ms) speed  0.4 m/s

2025-09-20T00:04:11.114Z,1758326651.114 [DAT](INFO): DAT read: user:702>

2025-09-20T00:04:11.140Z,1758326651.140 [DAT](INFO): DAT read: Tx time:00:04:12.4611

2025-09-20T00:04:11.141Z,1758326651.141 [DAT](INFO): Ping request sent.
2025-09-20T00:04:11.141Z,1758326651.141 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:11.141Z,1758326651.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:11.142Z,1758326651.142 [DAT](INFO): direction in FSK: [0.937640,0.251240,0.240228]
2025-09-20T00:04:11.142Z,1758326651.142 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:11.143Z,1758326651.143 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:11.154Z,1758326651.154 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:11.154Z,1758326651.154 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:11.234Z,1758326651.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.199997 m,
      deltaT: 3.778708 s,
      deltaX: -1.700005 m,
      approachRate: -0.449890 m/s,
      rangeRepo size: 4

2025-09-20T00:04:11.245Z,1758326651.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.927467 m,
      bearing: 259.197000 deg,
      lat: 36.779460 deg,
      lon: -121.859721 deg,
      deltaT: 3.778708 s,
      deltaX: -1.695488 m,
      approachRate: -0.448695 m/s,
      posRepo size: 4

2025-09-20T00:04:11.246Z,1758326651.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:11.249Z,1758326651.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 100.736343 m,
      bearing: 259.051321 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005252 deg/s,
      cmd heading: 244.174154 deg,
      new cmd heading: 244.168991 deg.

2025-09-20T00:04:11.250Z,1758326651.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261553 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:11.536Z,1758326651.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:11.539Z,1758326651.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 100.580795 m,
      bearing: 259.049210 deg,
      approach rate: -0.513938 m/s,
      LOS rate: -0.006986 deg/s,
      cmd heading: 244.168990 deg,
      new cmd heading: 244.164762 deg.

2025-09-20T00:04:11.540Z,1758326651.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261479 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:11.919Z,1758326651.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:11.921Z,1758326651.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:11.931Z,1758326651.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 100.395752 m,
      bearing: 259.046690 deg,
      approach rate: -0.480660 m/s,
      LOS rate: -0.006557 deg/s,
      cmd heading: 244.164756 deg,
      new cmd heading: 244.159707 deg.

2025-09-20T00:04:11.932Z,1758326651.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261391 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:12.102Z,1758326652.102 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:12.102Z,1758326652.102 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:12.102Z,1758326652.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:12.356Z,1758326652.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215119
2025-09-20T00:04:12.388Z,1758326652.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:12.391Z,1758326652.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 100.205917 m,
      bearing: 259.044037 deg,
      approach rate: -0.411397 m/s,
      LOS rate: -0.005761 deg/s,
      cmd heading: 244.159701 deg,
      new cmd heading: 244.154385 deg.

2025-09-20T00:04:12.397Z,1758326652.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261298 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:12.609Z,1758326652.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467496
2025-09-20T00:04:12.788Z,1758326652.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:12.791Z,1758326652.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 99.984940 m,
      bearing: 259.039328 deg,
      approach rate: -0.545179 m/s,
      LOS rate: -0.011643 deg/s,
      cmd heading: 244.154374 deg,
      new cmd heading: 244.144935 deg.

2025-09-20T00:04:12.792Z,1758326652.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261133 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:12.857Z,1758326652.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716304
2025-09-20T00:04:13.110Z,1758326653.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969040
2025-09-20T00:04:13.175Z,1758326653.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:13.178Z,1758326653.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 99.803566 m,
      bearing: 259.035456 deg,
      approach rate: -0.467979 m/s,
      LOS rate: -0.010009 deg/s,
      cmd heading: 244.144948 deg,
      new cmd heading: 244.137190 deg.

2025-09-20T00:04:13.179Z,1758326653.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260998 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:13.364Z,1758326653.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222448
2025-09-20T00:04:13.614Z,1758326653.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472415
2025-09-20T00:04:13.700Z,1758326653.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:13.703Z,1758326653.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 99.552826 m,
      bearing: 259.031029 deg,
      approach rate: -0.478037 m/s,
      LOS rate: -0.008461 deg/s,
      cmd heading: 244.137189 deg,
      new cmd heading: 244.128313 deg.

2025-09-20T00:04:13.704Z,1758326653.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260843 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:13.865Z,1758326653.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724027
2025-09-20T00:04:14.047Z,1758326654.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:14.066Z,1758326654.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:14.073Z,1758326654.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 99.387421 m,
      bearing: 259.028094 deg,
      approach rate: -0.451283 m/s,
      LOS rate: -0.008021 deg/s,
      cmd heading: 244.128310 deg,
      new cmd heading: 244.122430 deg.

2025-09-20T00:04:14.074Z,1758326654.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260740 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:14.118Z,1758326654.118 [DAT](INFO): DAT read: Rx Time:00:04:15.0004

2025-09-20T00:04:14.118Z,1758326654.118 [DAT](INFO): Rx dataTimestamp_ set to:1758326654.118125
2025-09-20T00:04:14.120Z,1758326654.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978434
2025-09-20T00:04:14.374Z,1758326654.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232457
2025-09-20T00:04:14.503Z,1758326654.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.93 m.
2025-09-20T00:04:14.506Z,1758326654.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.927467 m,
      nav range: 99.151123 m,
      bearing: 259.021675 deg,
      approach rate: -0.541026 m/s,
      LOS rate: -0.014732 deg/s,
      cmd heading: 244.122436 deg,
      new cmd heading: 244.109567 deg.

2025-09-20T00:04:14.507Z,1758326654.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260516 target range: 102.927467 and range: 103.20 m.
2025-09-20T00:04:14.628Z,1758326654.628 [DAT](INFO): DAT read: 00:04:15.0004 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.01, 1.571,-0.450, 1.189, 1.182, PHS= 0.491,-1.587,-0.038, RAW= 135.8,  12.1, CAL= 135.2,  13.2, ROT=  14.8, -13.2

2025-09-20T00:04:14.629Z,1758326654.629 [DAT](INFO): got valid direction response:
 00:04:15.0004 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.01, 1.571,-0.450, 1.189, 1.182, PHS= 0.491,-1.587,-0.038, RAW= 135.8,  12.1, CAL= 135.2,  13.2, ROT=  14.8, -13.2

2025-09-20T00:04:14.630Z,1758326654.630 [DAT](INFO): DAT read: Bearing  33.7,  12.1 (Local)

2025-09-20T00:04:14.630Z,1758326654.630 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.7,  12.1 (Local)

2025-09-20T00:04:14.632Z,1758326654.632 [DAT](INFO): DAT read: Range 11 to 50 : 101.4 m  (Round-trip  135.2 ms) speed  0.4 m/s

2025-09-20T00:04:14.632Z,1758326654.632 [DAT](INFO): DAT read: user:703>

2025-09-20T00:04:14.633Z,1758326654.633 [DAT](INFO): DAT read: Tx time:00:04:16.1111

2025-09-20T00:04:14.633Z,1758326654.633 [DAT](INFO): Ping request sent.
2025-09-20T00:04:14.634Z,1758326654.634 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:14.634Z,1758326654.634 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:14.635Z,1758326654.635 [DAT](INFO): direction in FSK: [0.941279,0.248697,0.228351]
2025-09-20T00:04:14.635Z,1758326654.635 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:14.635Z,1758326654.635 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:14.639Z,1758326654.639 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:14.639Z,1758326654.639 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:14.898Z,1758326654.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.400002 m,
      deltaT: 3.528943 s,
      deltaX: -1.799995 m,
      approachRate: -0.510066 m/s,
      rangeRepo size: 4

2025-09-20T00:04:14.904Z,1758326654.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.132256 m,
      bearing: 259.018228 deg,
      lat: 36.779460 deg,
      lon: -121.859721 deg,
      deltaT: 3.528943 s,
      deltaX: -1.795212 m,
      approachRate: -0.508711 m/s,
      posRepo size: 4

2025-09-20T00:04:14.905Z,1758326654.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:14.912Z,1758326654.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 98.966850 m,
      bearing: 259.017546 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014732 deg/s,
      cmd heading: 244.109568 deg,
      new cmd heading: 244.097954 deg.

2025-09-20T00:04:14.913Z,1758326654.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260313 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:15.337Z,1758326655.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:15.339Z,1758326655.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 98.730995 m,
      bearing: 259.011138 deg,
      approach rate: -0.536526 m/s,
      LOS rate: -0.014611 deg/s,
      cmd heading: 244.097956 deg,
      new cmd heading: 244.085110 deg.

2025-09-20T00:04:15.341Z,1758326655.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260089 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:15.769Z,1758326655.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:15.772Z,1758326655.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 98.515221 m,
      bearing: 259.005148 deg,
      approach rate: -0.500596 m/s,
      LOS rate: -0.013929 deg/s,
      cmd heading: 244.085116 deg,
      new cmd heading: 244.073108 deg.

2025-09-20T00:04:15.773Z,1758326655.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259880 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:16.227Z,1758326656.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:16.229Z,1758326656.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:16.232Z,1758326656.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 98.284477 m,
      bearing: 258.998777 deg,
      approach rate: -0.500187 m/s,
      LOS rate: -0.013843 deg/s,
      cmd heading: 244.073122 deg,
      new cmd heading: 244.060350 deg.

2025-09-20T00:04:16.233Z,1758326656.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259657 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:16.387Z,1758326656.387 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:16.387Z,1758326656.387 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:16.388Z,1758326656.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:16.637Z,1758326656.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003314
2025-09-20T00:04:16.678Z,1758326656.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:16.681Z,1758326656.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 98.056427 m,
      bearing: 258.992814 deg,
      approach rate: -0.508461 m/s,
      LOS rate: -0.013325 deg/s,
      cmd heading: 244.060363 deg,
      new cmd heading: 244.048410 deg.

2025-09-20T00:04:16.682Z,1758326656.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259449 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:16.889Z,1758326656.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255406
2025-09-20T00:04:17.049Z,1758326657.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:17.051Z,1758326657.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 97.876213 m,
      bearing: 258.988097 deg,
      approach rate: -0.485884 m/s,
      LOS rate: -0.012741 deg/s,
      cmd heading: 244.048424 deg,
      new cmd heading: 244.038973 deg.

2025-09-20T00:04:17.053Z,1758326657.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259284 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:17.142Z,1758326657.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507766
2025-09-20T00:04:17.393Z,1758326657.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759476
2025-09-20T00:04:17.510Z,1758326657.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:17.513Z,1758326657.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 97.632828 m,
      bearing: 258.978147 deg,
      approach rate: -0.527169 m/s,
      LOS rate: -0.021607 deg/s,
      cmd heading: 244.038971 deg,
      new cmd heading: 244.019020 deg.

2025-09-20T00:04:17.514Z,1758326657.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258935 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:17.645Z,1758326657.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011240
2025-09-20T00:04:17.841Z,1758326657.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:17.843Z,1758326657.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 97.464691 m,
      bearing: 258.971301 deg,
      approach rate: -0.509057 m/s,
      LOS rate: -0.020762 deg/s,
      cmd heading: 244.019027 deg,
      new cmd heading: 244.005311 deg.

2025-09-20T00:04:17.844Z,1758326657.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258696 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:17.898Z,1758326657.898 [DAT](INFO): DAT read: Rx Time:00:04:18.6480

2025-09-20T00:04:17.898Z,1758326657.898 [DAT](INFO): Rx dataTimestamp_ set to:1758326657.897903
2025-09-20T00:04:17.899Z,1758326657.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265407
2025-09-20T00:04:18.149Z,1758326658.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515482
2025-09-20T00:04:18.273Z,1758326658.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:18.275Z,1758326658.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-09-20T00:04:18.278Z,1758326658.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.132256 m,
      nav range: 97.243767 m,
      bearing: 258.962323 deg,
      approach rate: -0.508821 m/s,
      LOS rate: -0.020724 deg/s,
      cmd heading: 244.005312 deg,
      new cmd heading: 243.987315 deg.

2025-09-20T00:04:18.279Z,1758326658.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258382 target range: 101.132256 and range: 101.40 m.
2025-09-20T00:04:18.423Z,1758326658.423 [DAT](INFO): DAT read: 00:04:18.6480 LVL= 31120, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.06,-0.090,-1.962,-0.450,-0.422, PHS= 0.434,-1.495,-0.071, RAW= 135.4,  13.0, CAL= 134.7,  14.1, ROT=  15.3, -14.1

2025-09-20T00:04:18.426Z,1758326658.426 [DAT](INFO): got valid direction response:
 00:04:18.6480 LVL= 31120, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.06,-0.090,-1.962,-0.450,-0.422, PHS= 0.434,-1.495,-0.071, RAW= 135.4,  13.0, CAL= 134.7,  14.1, ROT=  15.3, -14.1

2025-09-20T00:04:18.430Z,1758326658.430 [DAT](INFO): DAT read: Bearing  34.6,  12.6 (Local)

2025-09-20T00:04:18.431Z,1758326658.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.6,  12.6 (Local)

2025-09-20T00:04:18.438Z,1758326658.438 [DAT](INFO): DAT read: Range 11 to 50 : 99.6 m  (Round-trip  132.8 ms) speed  0.4 m/s

2025-09-20T00:04:18.441Z,1758326658.441 [DAT](INFO): DAT read: user:704>

2025-09-20T00:04:18.443Z,1758326658.443 [DAT](INFO): DAT read: Tx time:00:04:19.7611

2025-09-20T00:04:18.446Z,1758326658.446 [DAT](INFO): Ping request sent.
2025-09-20T00:04:18.446Z,1758326658.446 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:18.447Z,1758326658.447 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:18.451Z,1758326658.451 [DAT](INFO): direction in FSK: [0.935497,0.255923,0.243615]
2025-09-20T00:04:18.451Z,1758326658.451 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:18.453Z,1758326658.453 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:18.490Z,1758326658.490 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:18.490Z,1758326658.490 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:18.718Z,1758326658.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.599998 m,
      deltaT: 3.782136 s,
      deltaX: -1.800003 m,
      approachRate: -0.475922 m/s,
      rangeRepo size: 4

2025-09-20T00:04:18.720Z,1758326658.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.336838 m,
      bearing: 259.305871 deg,
      lat: 36.779460 deg,
      lon: -121.859723 deg,
      deltaT: 3.782136 s,
      deltaX: -1.795418 m,
      approachRate: -0.474710 m/s,
      posRepo size: 4

2025-09-20T00:04:18.722Z,1758326658.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.34 m.
2025-09-20T00:04:18.726Z,1758326658.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.336838 m,
      nav range: 97.188225 m,
      bearing: 258.975650 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020724 deg/s,
      cmd heading: 243.987307 deg,
      new cmd heading: 243.968961 deg.

2025-09-20T00:04:18.728Z,1758326658.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258061 target range: 99.336838 and range: 99.60 m.
2025-09-20T00:04:19.076Z,1758326659.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.34 m.
2025-09-20T00:04:19.080Z,1758326659.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.336838 m,
      nav range: 97.016968 m,
      bearing: 258.971701 deg,
      approach rate: -0.500088 m/s,
      LOS rate: -0.011551 deg/s,
      cmd heading: 243.968948 deg,
      new cmd heading: 243.961036 deg.

2025-09-20T00:04:19.083Z,1758326659.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257923 target range: 99.336838 and range: 99.60 m.
2025-09-20T00:04:19.531Z,1758326659.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.34 m.
2025-09-20T00:04:19.534Z,1758326659.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.336838 m,
      nav range: 96.790649 m,
      bearing: 258.966511 deg,
      approach rate: -0.483897 m/s,
      LOS rate: -0.011124 deg/s,
      cmd heading: 243.961025 deg,
      new cmd heading: 243.950620 deg.

2025-09-20T00:04:19.535Z,1758326659.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257741 target range: 99.336838 and range: 99.60 m.
2025-09-20T00:04:19.889Z,1758326659.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.34 m.
2025-09-20T00:04:19.892Z,1758326659.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.336838 m,
      nav range: 96.609047 m,
      bearing: 258.964448 deg,
      approach rate: -0.502143 m/s,
      LOS rate: -0.005715 deg/s,
      cmd heading: 243.950615 deg,
      new cmd heading: 243.946481 deg.

2025-09-20T00:04:19.893Z,1758326659.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257669 target range: 99.336838 and range: 99.60 m.
2025-09-20T00:04:20.274Z,1758326660.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:20.277Z,1758326660.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.34 m.
2025-09-20T00:04:20.279Z,1758326660.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.336838 m,
      nav range: 96.419312 m,
      bearing: 258.962276 deg,
      approach rate: -0.489781 m/s,
      LOS rate: -0.005618 deg/s,
      cmd heading: 243.946490 deg,
      new cmd heading: 243.942137 deg.

2025-09-20T00:04:20.281Z,1758326660.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257594 target range: 99.336838 and range: 99.60 m.
2025-09-20T00:04:20.417Z,1758326660.417 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:20.417Z,1758326660.417 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:20.417Z,1758326660.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:20.669Z,1758326660.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223454
2025-09-20T00:04:20.711Z,1758326660.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.34 m.
2025-09-20T00:04:20.714Z,1758326660.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.336838 m,
      nav range: 96.218109 m,
      bearing: 258.957897 deg,
      approach rate: -0.463590 m/s,
      LOS rate: -0.010111 deg/s,
      cmd heading: 243.942146 deg,
      new cmd heading: 243.933369 deg.

2025-09-20T00:04:20.715Z,1758326660.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257441 target range: 99.336838 and range: 99.60 m.
2025-09-20T00:04:20.921Z,1758326660.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475299
2025-09-20T00:04:21.105Z,1758326661.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.34 m.
2025-09-20T00:04:21.109Z,1758326661.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.336838 m,
      nav range: 96.038773 m,
      bearing: 258.953973 deg,
      approach rate: -0.454851 m/s,
      LOS rate: -0.009970 deg/s,
      cmd heading: 243.933376 deg,
      new cmd heading: 243.925514 deg.

2025-09-20T00:04:21.110Z,1758326661.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257303 target range: 99.336838 and range: 99.60 m.
2025-09-20T00:04:21.174Z,1758326661.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728478
2025-09-20T00:04:21.425Z,1758326661.425 [DAT](INFO): DAT read: Rx Time:00:04:22.2957

2025-09-20T00:04:21.425Z,1758326661.425 [DAT](INFO): Rx dataTimestamp_ set to:1758326661.425117
2025-09-20T00:04:21.426Z,1758326661.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980400
2025-09-20T00:04:21.597Z,1758326661.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.34 m.
2025-09-20T00:04:21.613Z,1758326661.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.336838 m,
      nav range: 95.807190 m,
      bearing: 258.948100 deg,
      approach rate: -0.488113 m/s,
      LOS rate: -0.012409 deg/s,
      cmd heading: 243.925508 deg,
      new cmd heading: 243.913733 deg.

2025-09-20T00:04:21.614Z,1758326661.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257098 target range: 99.336838 and range: 99.60 m.
2025-09-20T00:04:21.679Z,1758326661.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233159
2025-09-20T00:04:21.934Z,1758326661.934 [DAT](INFO): DAT read: 00:04:22.2957 LVL= 30384, 32753, 32754, 32755, AGC= 67, IDX= 421, 0.25, 0.234,-1.695,-0.164,-0.159, PHS= 0.495,-1.491,-0.049, RAW= 134.6,  11.7, CAL= 134.1,  12.8, ROT=  15.9, -12.8

2025-09-20T00:04:21.935Z,1758326661.935 [DAT](INFO): got valid direction response:
 00:04:22.2957 LVL= 30384, 32753, 32754, 32755, AGC= 67, IDX= 421, 0.25, 0.234,-1.695,-0.164,-0.159, PHS= 0.495,-1.491,-0.049, RAW= 134.6,  11.7, CAL= 134.1,  12.8, ROT=  15.9, -12.8

2025-09-20T00:04:21.937Z,1758326661.937 [DAT](INFO): DAT read: Bearing  33.2,  13.4 (Local)

2025-09-20T00:04:21.937Z,1758326661.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.2,  13.4 (Local)

2025-09-20T00:04:21.938Z,1758326661.938 [DAT](INFO): DAT read: Range 11 to 50 : 97.8 m  (Round-trip  130.5 ms) speed  0.4 m/s

2025-09-20T00:04:21.939Z,1758326661.939 [DAT](INFO): DAT read: user:705>

2025-09-20T00:04:21.940Z,1758326661.940 [DAT](INFO): DAT read: Tx time:00:04:23.4110

2025-09-20T00:04:21.940Z,1758326661.940 [DAT](INFO): Ping request sent.
2025-09-20T00:04:21.940Z,1758326661.940 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:21.941Z,1758326661.941 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:21.941Z,1758326661.941 [DAT](INFO): direction in FSK: [0.937841,0.267151,0.221548]
2025-09-20T00:04:21.942Z,1758326661.942 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:21.942Z,1758326661.942 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:21.949Z,1758326661.949 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:04:22.001Z,1758326662.001 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:22.002Z,1758326662.002 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:22.125Z,1758326662.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.800003 m,
      deltaT: 3.524893 s,
      deltaX: -1.799995 m,
      approachRate: -0.510652 m/s,
      rangeRepo size: 4

2025-09-20T00:04:22.127Z,1758326662.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.541435 m,
      bearing: 259.817824 deg,
      lat: 36.779462 deg,
      lon: -121.859724 deg,
      deltaT: 3.524893 s,
      deltaX: -1.795403 m,
      approachRate: -0.509350 m/s,
      posRepo size: 4

2025-09-20T00:04:22.136Z,1758326662.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:22.139Z,1758326662.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 95.607361 m,
      bearing: 259.105755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012409 deg/s,
      cmd heading: 243.913732 deg,
      new cmd heading: 243.900327 deg.

2025-09-20T00:04:22.139Z,1758326662.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256864 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:22.514Z,1758326662.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:22.530Z,1758326662.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:22.540Z,1758326662.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 95.417625 m,
      bearing: 259.101278 deg,
      approach rate: -0.468934 m/s,
      LOS rate: -0.011088 deg/s,
      cmd heading: 243.900318 deg,
      new cmd heading: 243.891345 deg.

2025-09-20T00:04:22.545Z,1758326662.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256707 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:22.685Z,1758326662.685 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:22.685Z,1758326662.685 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:22.685Z,1758326662.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:22.907Z,1758326662.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:22.914Z,1758326662.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 95.217644 m,
      bearing: 259.098850 deg,
      approach rate: -0.522962 m/s,
      LOS rate: -0.006361 deg/s,
      cmd heading: 243.891357 deg,
      new cmd heading: 243.886492 deg.

2025-09-20T00:04:22.915Z,1758326662.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256622 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:22.937Z,1758326662.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996791
2025-09-20T00:04:22.955Z,1758326662.955 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:04:23.190Z,1758326663.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249676
2025-09-20T00:04:23.277Z,1758326663.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:23.297Z,1758326663.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 95.029449 m,
      bearing: 259.096528 deg,
      approach rate: -0.507741 m/s,
      LOS rate: -0.006277 deg/s,
      cmd heading: 243.886494 deg,
      new cmd heading: 243.881841 deg.

2025-09-20T00:04:23.298Z,1758326663.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256541 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:23.442Z,1758326663.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501567
2025-09-20T00:04:23.693Z,1758326663.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752719
2025-09-20T00:04:23.781Z,1758326663.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:23.783Z,1758326663.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 94.780769 m,
      bearing: 259.091188 deg,
      approach rate: -0.493729 m/s,
      LOS rate: -0.010630 deg/s,
      cmd heading: 243.881849 deg,
      new cmd heading: 243.871140 deg.

2025-09-20T00:04:23.785Z,1758326663.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256354 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:23.945Z,1758326663.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004550
2025-09-20T00:04:24.130Z,1758326664.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:24.133Z,1758326664.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 94.608421 m,
      bearing: 259.087475 deg,
      approach rate: -0.494075 m/s,
      LOS rate: -0.010663 deg/s,
      cmd heading: 243.871139 deg,
      new cmd heading: 243.863700 deg.

2025-09-20T00:04:24.134Z,1758326664.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256225 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:24.197Z,1758326664.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256739
2025-09-20T00:04:24.449Z,1758326664.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508635
2025-09-20T00:04:24.622Z,1758326664.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:24.624Z,1758326664.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:24.627Z,1758326664.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 94.360100 m,
      bearing: 259.082126 deg,
      approach rate: -0.502235 m/s,
      LOS rate: -0.010847 deg/s,
      cmd heading: 243.863708 deg,
      new cmd heading: 243.852982 deg.

2025-09-20T00:04:24.644Z,1758326664.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256037 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:24.702Z,1758326664.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761573
2025-09-20T00:04:24.953Z,1758326664.953 [DAT](INFO): DAT read: Rx Time:00:04:25.9431

2025-09-20T00:04:24.954Z,1758326664.954 [DAT](INFO): Rx dataTimestamp_ set to:1758326664.953448
2025-09-20T00:04:24.954Z,1758326664.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014000
2025-09-20T00:04:25.004Z,1758326665.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:25.006Z,1758326665.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 94.168510 m,
      bearing: 259.077980 deg,
      approach rate: -0.505002 m/s,
      LOS rate: -0.010951 deg/s,
      cmd heading: 243.852971 deg,
      new cmd heading: 243.844662 deg.

2025-09-20T00:04:25.007Z,1758326665.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255892 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:25.206Z,1758326665.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265008
2025-09-20T00:04:25.390Z,1758326665.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-09-20T00:04:25.393Z,1758326665.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541435 m,
      nav range: 93.973755 m,
      bearing: 259.073790 deg,
      approach rate: -0.503376 m/s,
      LOS rate: -0.010852 deg/s,
      cmd heading: 243.844666 deg,
      new cmd heading: 243.836269 deg.

2025-09-20T00:04:25.394Z,1758326665.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255746 target range: 97.541435 and range: 97.80 m.
2025-09-20T00:04:25.457Z,1758326665.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516797
2025-09-20T00:04:25.715Z,1758326665.715 [DAT](INFO): DAT read: 00:04:25.9431 LVL= 23104, 30705, 25890, 32755, AGC= 67, IDX= 412,-0.22, 2.901, 0.926, 2.543, 2.533, PHS= 0.470,-1.561,-0.033, RAW= 136.2,  12.2, CAL= 135.6,  13.3, ROT=  14.4, -13.3

2025-09-20T00:04:25.716Z,1758326665.716 [DAT](INFO): got valid direction response:
 00:04:25.9431 LVL= 23104, 30705, 25890, 32755, AGC= 67, IDX= 412,-0.22, 2.901, 0.926, 2.543, 2.533, PHS= 0.470,-1.561,-0.033, RAW= 136.2,  12.2, CAL= 135.6,  13.3, ROT=  14.4, -13.3

2025-09-20T00:04:25.717Z,1758326665.717 [DAT](INFO): DAT read: Bearing  33.6,  12.4 (Local)

2025-09-20T00:04:25.717Z,1758326665.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.6,  12.4 (Local)

2025-09-20T00:04:25.719Z,1758326665.719 [DAT](INFO): DAT read: Range 11 to 50 : 96.0 m  (Round-trip  128.0 ms) speed  0.2 m/s

2025-09-20T00:04:25.719Z,1758326665.719 [DAT](INFO): DAT read: user:706>

2025-09-20T00:04:25.720Z,1758326665.720 [DAT](INFO): DAT read: Tx time:00:04:27.0610

2025-09-20T00:04:25.721Z,1758326665.721 [DAT](INFO): Ping request sent.
2025-09-20T00:04:25.721Z,1758326665.721 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:25.721Z,1758326665.721 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:25.723Z,1758326665.723 [DAT](INFO): direction in FSK: [0.942605,0.242020,0.230050]
2025-09-20T00:04:25.723Z,1758326665.723 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:25.724Z,1758326665.724 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:25.728Z,1758326665.728 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:25.729Z,1758326665.729 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:25.898Z,1758326665.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.000000 m,
      deltaT: 3.780312 s,
      deltaX: -1.800003 m,
      approachRate: -0.476152 m/s,
      rangeRepo size: 4

2025-09-20T00:04:25.904Z,1758326665.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.746101 m,
      bearing: 258.289965 deg,
      lat: 36.779462 deg,
      lon: -121.859724 deg,
      deltaT: 3.780312 s,
      deltaX: -1.795334 m,
      approachRate: -0.474917 m/s,
      posRepo size: 4

2025-09-20T00:04:25.905Z,1758326665.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:25.907Z,1758326665.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 93.736847 m,
      bearing: 259.070288 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010852 deg/s,
      cmd heading: 243.836278 deg,
      new cmd heading: 243.825284 deg.

2025-09-20T00:04:25.912Z,1758326665.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255554 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:26.254Z,1758326666.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:26.261Z,1758326666.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 93.538895 m,
      bearing: 259.067341 deg,
      approach rate: -0.554021 m/s,
      LOS rate: -0.008265 deg/s,
      cmd heading: 243.825295 deg,
      new cmd heading: 243.819389 deg.

2025-09-20T00:04:26.262Z,1758326666.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255451 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:26.714Z,1758326666.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:26.717Z,1758326666.717 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:26.717Z,1758326666.717 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:26.717Z,1758326666.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:26.719Z,1758326666.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:26.724Z,1758326666.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 93.306320 m,
      bearing: 259.064383 deg,
      approach rate: -0.503865 m/s,
      LOS rate: -0.006424 deg/s,
      cmd heading: 243.819394 deg,
      new cmd heading: 243.813464 deg.

2025-09-20T00:04:26.726Z,1758326666.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255348 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:26.969Z,1758326666.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248300
2025-09-20T00:04:27.098Z,1758326667.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:27.105Z,1758326667.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 93.131058 m,
      bearing: 259.062179 deg,
      approach rate: -0.458658 m/s,
      LOS rate: -0.005779 deg/s,
      cmd heading: 243.813465 deg,
      new cmd heading: 243.809048 deg.

2025-09-20T00:04:27.106Z,1758326667.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255270 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:27.221Z,1758326667.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500449
2025-09-20T00:04:27.473Z,1758326667.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752113
2025-09-20T00:04:27.479Z,1758326667.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:27.482Z,1758326667.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 92.927841 m,
      bearing: 259.059618 deg,
      approach rate: -0.533489 m/s,
      LOS rate: -0.006736 deg/s,
      cmd heading: 243.809039 deg,
      new cmd heading: 243.803907 deg.

2025-09-20T00:04:27.483Z,1758326667.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255181 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:27.725Z,1758326667.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004205
2025-09-20T00:04:27.911Z,1758326667.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:27.914Z,1758326667.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 92.720703 m,
      bearing: 259.057124 deg,
      approach rate: -0.479193 m/s,
      LOS rate: -0.005782 deg/s,
      cmd heading: 243.803903 deg,
      new cmd heading: 243.798904 deg.

2025-09-20T00:04:27.915Z,1758326667.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255094 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:27.978Z,1758326667.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257255
2025-09-20T00:04:28.229Z,1758326668.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508043
2025-09-20T00:04:28.286Z,1758326668.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:28.289Z,1758326668.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 92.541748 m,
      bearing: 259.054993 deg,
      approach rate: -0.477670 m/s,
      LOS rate: -0.005701 deg/s,
      cmd heading: 243.798903 deg,
      new cmd heading: 243.794632 deg.

2025-09-20T00:04:28.290Z,1758326668.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255019 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:28.481Z,1758326668.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760266
2025-09-20T00:04:28.731Z,1758326668.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:28.734Z,1758326668.734 [DAT](INFO): DAT read: Rx Time:00:04:29.5909

2025-09-20T00:04:28.734Z,1758326668.734 [DAT](INFO): Rx dataTimestamp_ set to:1758326668.734016
2025-09-20T00:04:28.735Z,1758326668.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014300
2025-09-20T00:04:28.739Z,1758326668.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:28.743Z,1758326668.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 92.321655 m,
      bearing: 259.057397 deg,
      approach rate: -0.486219 m/s,
      LOS rate: 0.005324 deg/s,
      cmd heading: 243.794641 deg,
      new cmd heading: 243.799462 deg.

2025-09-20T00:04:28.765Z,1758326668.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255103 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:28.986Z,1758326668.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264680
2025-09-20T00:04:29.192Z,1758326669.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.75 m.
2025-09-20T00:04:29.195Z,1758326669.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.746101 m,
      nav range: 92.127068 m,
      bearing: 259.059518 deg,
      approach rate: -0.428606 m/s,
      LOS rate: 0.004681 deg/s,
      cmd heading: 243.799450 deg,
      new cmd heading: 243.803700 deg.

2025-09-20T00:04:29.203Z,1758326669.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255177 target range: 95.746101 and range: 96.00 m.
2025-09-20T00:04:29.243Z,1758326669.243 [DAT](INFO): DAT read: 00:04:29.5909 LVL= 30576, 32753, 32498, 32755, AGC= 68, IDX= 420,-0.11,-0.479,-2.410,-0.827,-0.858, PHS= 0.482,-1.506,-0.012, RAW= 136.2,  11.6, CAL= 135.6,  12.6, ROT=  14.4, -12.6

2025-09-20T00:04:29.245Z,1758326669.245 [DAT](INFO): got valid direction response:
 00:04:29.5909 LVL= 30576, 32753, 32498, 32755, AGC= 68, IDX= 420,-0.11,-0.479,-2.410,-0.827,-0.858, PHS= 0.482,-1.506,-0.012, RAW= 136.2,  11.6, CAL= 135.6,  12.6, ROT=  14.4, -12.6

2025-09-20T00:04:29.245Z,1758326669.245 [DAT](INFO): DAT read: Bearing  32.8,  12.6 (Local)

2025-09-20T00:04:29.246Z,1758326669.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.8,  12.6 (Local)

2025-09-20T00:04:29.247Z,1758326669.247 [DAT](INFO): DAT read: Range 11 to 50 : 94.2 m  (Round-trip  125.7 ms) speed  0.4 m/s

2025-09-20T00:04:29.249Z,1758326669.249 [DAT](INFO): DAT read: user:707>

2025-09-20T00:04:29.249Z,1758326669.249 [DAT](INFO): DAT read: Tx time:00:04:30.7110

2025-09-20T00:04:29.250Z,1758326669.250 [DAT](INFO): Ping request sent.
2025-09-20T00:04:29.250Z,1758326669.250 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:29.250Z,1758326669.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:29.251Z,1758326669.251 [DAT](INFO): direction in FSK: [0.945257,0.242701,0.218143]
2025-09-20T00:04:29.251Z,1758326669.251 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:29.251Z,1758326669.251 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:29.255Z,1758326669.255 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:29.255Z,1758326669.255 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:29.665Z,1758326669.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.199997 m,
      deltaT: 3.527862 s,
      deltaX: -1.800003 m,
      approachRate: -0.510225 m/s,
      rangeRepo size: 4

2025-09-20T00:04:29.667Z,1758326669.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.950722 m,
      bearing: 258.268846 deg,
      lat: 36.779459 deg,
      lon: -121.859724 deg,
      deltaT: 3.527862 s,
      deltaX: -1.795380 m,
      approachRate: -0.508914 m/s,
      posRepo size: 4

2025-09-20T00:04:29.672Z,1758326669.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:29.675Z,1758326669.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 91.953140 m,
      bearing: 258.871253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004681 deg/s,
      cmd heading: 243.803712 deg,
      new cmd heading: 243.808087 deg.

2025-09-20T00:04:29.676Z,1758326669.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255254 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:30.123Z,1758326670.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:30.132Z,1758326670.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 91.711143 m,
      bearing: 258.874420 deg,
      approach rate: -0.522489 m/s,
      LOS rate: 0.006857 deg/s,
      cmd heading: 243.808083 deg,
      new cmd heading: 243.814435 deg.

2025-09-20T00:04:30.133Z,1758326670.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255365 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:30.486Z,1758326670.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:30.489Z,1758326670.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 91.518120 m,
      bearing: 258.876925 deg,
      approach rate: -0.531286 m/s,
      LOS rate: 0.006910 deg/s,
      cmd heading: 243.814449 deg,
      new cmd heading: 243.819470 deg.

2025-09-20T00:04:30.490Z,1758326670.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255453 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:30.908Z,1758326670.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:30.911Z,1758326670.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:30.946Z,1758326670.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 91.315140 m,
      bearing: 258.874350 deg,
      approach rate: -0.478566 m/s,
      LOS rate: -0.006085 deg/s,
      cmd heading: 243.819476 deg,
      new cmd heading: 243.814314 deg.

2025-09-20T00:04:30.947Z,1758326670.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255363 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:31.001Z,1758326671.001 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:31.001Z,1758326671.001 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:31.001Z,1758326671.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:31.253Z,1758326671.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003134
2025-09-20T00:04:31.312Z,1758326671.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:31.315Z,1758326671.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 91.122627 m,
      bearing: 258.871918 deg,
      approach rate: -0.479760 m/s,
      LOS rate: -0.006073 deg/s,
      cmd heading: 243.814312 deg,
      new cmd heading: 243.809439 deg.

2025-09-20T00:04:31.316Z,1758326671.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255278 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:31.505Z,1758326671.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255116
2025-09-20T00:04:31.758Z,1758326671.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507580
2025-09-20T00:04:31.767Z,1758326671.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:31.774Z,1758326671.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 90.916969 m,
      bearing: 258.870157 deg,
      approach rate: -0.451473 m/s,
      LOS rate: -0.003875 deg/s,
      cmd heading: 243.809449 deg,
      new cmd heading: 243.805919 deg.

2025-09-20T00:04:31.775Z,1758326671.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255216 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:32.009Z,1758326672.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759180
2025-09-20T00:04:32.113Z,1758326672.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:32.116Z,1758326672.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 90.732834 m,
      bearing: 258.868569 deg,
      approach rate: -0.532708 m/s,
      LOS rate: -0.004603 deg/s,
      cmd heading: 243.805925 deg,
      new cmd heading: 243.802742 deg.

2025-09-20T00:04:32.117Z,1758326672.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255161 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:32.261Z,1758326672.261 [DAT](INFO): DAT read: Rx Time:00:04:33.2385

2025-09-20T00:04:32.261Z,1758326672.261 [DAT](INFO): Rx dataTimestamp_ set to:1758326672.261018
2025-09-20T00:04:32.262Z,1758326672.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012025
2025-09-20T00:04:32.513Z,1758326672.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263164
2025-09-20T00:04:32.522Z,1758326672.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:32.525Z,1758326672.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 90.533752 m,
      bearing: 258.866845 deg,
      approach rate: -0.486549 m/s,
      LOS rate: -0.004223 deg/s,
      cmd heading: 243.802755 deg,
      new cmd heading: 243.799300 deg.

2025-09-20T00:04:32.526Z,1758326672.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255101 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:32.765Z,1758326672.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515100
2025-09-20T00:04:32.961Z,1758326672.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:32.963Z,1758326672.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:32.965Z,1758326672.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 90.327187 m,
      bearing: 258.864898 deg,
      approach rate: -0.468928 m/s,
      LOS rate: -0.004431 deg/s,
      cmd heading: 243.799313 deg,
      new cmd heading: 243.795409 deg.

2025-09-20T00:04:32.966Z,1758326672.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255033 target range: 93.950722 and range: 94.20 m.
2025-09-20T00:04:33.027Z,1758326673.027 [DAT](INFO): DAT read: 00:04:33.2385 LVL= 30704, 32753, 32658, 32755, AGC= 67, IDX= 412,-0.23, 1.308,-0.597, 0.969, 0.932, PHS= 0.478,-1.484,-0.007, RAW= 136.3,  11.4, CAL= 135.7,  12.5, ROT=  14.3, -aring  32.6,  12.8 (Local)

2025-09-20T00:04:33.027Z,1758326673.027 [DAT](INFO): Local bearing/azimuth received:
 00:04:33.2385 LVL= 30704, 32753, 32658, 32755, AGC= 67, IDX= 412,-0.23, 1.308,-0.597, 0.969, 0.932, PHS= 0.478,-1.484,-0.007, RAW= 136.3,  11.4, CAL= 135.7,  12.5, ROT=  14.3, -aring  32.6,  12.8 (Local)

2025-09-20T00:04:33.029Z,1758326673.029 [DAT](INFO): DAT read: Range 11 to 50 : 92.5 m  (Round-trip  123.4 ms) speed  0.4 m/s

2025-09-20T00:04:33.030Z,1758326673.030 [DAT](INFO): DAT read: user:708>

2025-09-20T00:04:33.030Z,1758326673.030 [DAT](INFO): DAT read: Tx time:00:04:34.3610

2025-09-20T00:04:33.031Z,1758326673.031 [DAT](INFO): Ping request sent.
2025-09-20T00:04:33.031Z,1758326673.031 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:33.031Z,1758326673.031 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:04:33.031Z,1758326673.031 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:33.035Z,1758326673.035 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:33.340Z,1758326673.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.500000 m,
      deltaT: 3.780659 s,
      deltaX: -1.699997 m,
      approachRate: -0.449656 m/s,
      rangeRepo size: 4

2025-09-20T00:04:33.341Z,1758326673.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:33.343Z,1758326673.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 90.135399 m,
      bearing: 258.863082 deg,
      approach rate: -0.509561 m/s,
      LOS rate: -0.004836 deg/s,
      cmd heading: 243.795406 deg,
      new cmd heading: 243.791766 deg.

2025-09-20T00:04:33.344Z,1758326673.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254969 target range: 93.950722 and range: 92.50 m.
2025-09-20T00:04:33.795Z,1758326673.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:33.798Z,1758326673.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 89.907722 m,
      bearing: 258.861031 deg,
      approach rate: -0.499318 m/s,
      LOS rate: -0.004509 deg/s,
      cmd heading: 243.791773 deg,
      new cmd heading: 243.787661 deg.

2025-09-20T00:04:33.799Z,1758326673.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254897 target range: 93.950722 and range: 92.50 m.
2025-09-20T00:04:34.162Z,1758326674.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:34.165Z,1758326674.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 89.727989 m,
      bearing: 258.859405 deg,
      approach rate: -0.489643 m/s,
      LOS rate: -0.004439 deg/s,
      cmd heading: 243.787647 deg,
      new cmd heading: 243.784388 deg.

2025-09-20T00:04:34.166Z,1758326674.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254840 target range: 93.950722 and range: 92.50 m.
2025-09-20T00:04:34.587Z,1758326674.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:34.590Z,1758326674.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 89.534760 m,
      bearing: 258.857649 deg,
      approach rate: -0.458050 m/s,
      LOS rate: -0.004171 deg/s,
      cmd heading: 243.784396 deg,
      new cmd heading: 243.780877 deg.

2025-09-20T00:04:34.591Z,1758326674.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254779 target range: 93.950722 and range: 92.50 m.
2025-09-20T00:04:34.991Z,1758326674.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:34.993Z,1758326674.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:35.001Z,1758326675.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 89.331215 m,
      bearing: 258.854203 deg,
      approach rate: -0.497099 m/s,
      LOS rate: -0.008434 deg/s,
      cmd heading: 243.780872 deg,
      new cmd heading: 243.773965 deg.

2025-09-20T00:04:35.002Z,1758326675.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254658 target range: 93.950722 and range: 92.50 m.
2025-09-20T00:04:35.033Z,1758326675.033 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:35.033Z,1758326675.033 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:35.033Z,1758326675.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:35.285Z,1758326675.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253958
2025-09-20T00:04:35.357Z,1758326675.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:35.359Z,1758326675.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 89.141396 m,
      bearing: 258.850971 deg,
      approach rate: -0.522482 m/s,
      LOS rate: -0.008916 deg/s,
      cmd heading: 243.773959 deg,
      new cmd heading: 243.767481 deg.

2025-09-20T00:04:35.361Z,1758326675.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254545 target range: 93.950722 and range: 92.50 m.
2025-09-20T00:04:35.537Z,1758326675.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506360
2025-09-20T00:04:35.789Z,1758326675.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758192
2025-09-20T00:04:35.840Z,1758326675.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:35.843Z,1758326675.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 88.911713 m,
      bearing: 258.844063 deg,
      approach rate: -0.479373 m/s,
      LOS rate: -0.014455 deg/s,
      cmd heading: 243.767484 deg,
      new cmd heading: 243.753633 deg.

2025-09-20T00:04:35.848Z,1758326675.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254303 target range: 93.950722 and range: 92.50 m.
2025-09-20T00:04:36.041Z,1758326676.041 [DAT](INFO): DAT read: Rx Time:00:04:36.8862

2025-09-20T00:04:36.041Z,1758326676.041 [DAT](INFO): Rx dataTimestamp_ set to:1758326676.041076
2025-09-20T00:04:36.042Z,1758326676.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011129
2025-09-20T00:04:36.203Z,1758326676.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.95 m.
2025-09-20T00:04:36.206Z,1758326676.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.950722 m,
      nav range: 88.732414 m,
      bearing: 258.838646 deg,
      approach rate: -0.488827 m/s,
      LOS rate: -0.014799 deg/s,
      cmd heading: 243.753633 deg,
      new cmd heading: 243.742776 deg.

2025-09-20T00:04:36.207Z,1758326676.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254114 target range: 93.950722 and range: 92.50 m.
2025-09-20T00:04:36.293Z,1758326676.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262144
2025-09-20T00:04:36.555Z,1758326676.555 [DAT](INFO): DAT read: 00:04:36.8862 LVL= 31312, 32753, 32754, 32755, AGC= 68, IDX= 420, 0.48, 0.421,-1.528, 0.099, 0.054, PHS= 0.469,-1.537, 0.001, RAW= 137.1,  11.7, CAL= 136.6,  12.8, ROT=  13.4, -12.8

2025-09-20T00:04:36.558Z,1758326676.558 [DAT](INFO): got valid direction response:
 00:04:36.8862 LVL= 31312, 32753, 32754, 32755, AGC= 68, IDX= 420, 0.48, 0.421,-1.528, 0.099, 0.054, PHS= 0.469,-1.537, 0.001, RAW= 137.1,  11.7, CAL= 136.6,  12.8, ROT=  13.4, -12.8

2025-09-20T00:04:36.559Z,1758326676.559 [DAT](INFO): DAT read: Bearing  32.6,  12.2 (Local)

2025-09-20T00:04:36.562Z,1758326676.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.6,  12.2 (Local)

2025-09-20T00:04:36.568Z,1758326676.568 [DAT](INFO): DAT read: Range 11 to 50 : 90.7 m  (Round-trip  121.0 ms) speed  0.4 m/s

2025-09-20T00:04:36.569Z,1758326676.569 [DAT](INFO): DAT read: user:709>

2025-09-20T00:04:36.571Z,1758326676.571 [DAT](INFO): DAT read: Tx time:00:04:38.0110

2025-09-20T00:04:36.571Z,1758326676.571 [DAT](INFO): Ping request sent.
2025-09-20T00:04:36.571Z,1758326676.571 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:36.572Z,1758326676.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:36.575Z,1758326676.575 [DAT](INFO): direction in FSK: [0.948602,0.225989,0.221548]
2025-09-20T00:04:36.575Z,1758326676.575 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:36.575Z,1758326676.575 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:36.581Z,1758326676.581 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:36.581Z,1758326676.581 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:36.788Z,1758326676.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.699997 m,
      deltaT: 3.527307 s,
      deltaX: -1.800003 m,
      approachRate: -0.510305 m/s,
      rangeRepo size: 4

2025-09-20T00:04:36.794Z,1758326676.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.459839 m,
      bearing: 257.315972 deg,
      lat: 36.779451 deg,
      lon: -121.859724 deg,
      deltaT: 7.307966 s,
      deltaX: -3.490883 m,
      approachRate: -0.477682 m/s,
      posRepo size: 4

2025-09-20T00:04:36.795Z,1758326676.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:36.799Z,1758326676.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 88.601303 m,
      bearing: 258.231214 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014799 deg/s,
      cmd heading: 243.742786 deg,
      new cmd heading: 243.725593 deg.

2025-09-20T00:04:36.804Z,1758326676.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253814 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:37.163Z,1758326677.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:37.165Z,1758326677.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:37.168Z,1758326677.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 88.399902 m,
      bearing: 258.223947 deg,
      approach rate: -0.527820 m/s,
      LOS rate: -0.019088 deg/s,
      cmd heading: 243.725602 deg,
      new cmd heading: 243.711035 deg.

2025-09-20T00:04:37.169Z,1758326677.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253560 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:37.301Z,1758326677.301 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:37.301Z,1758326677.301 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:37.301Z,1758326677.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:37.547Z,1758326677.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:37.554Z,1758326677.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982193
2025-09-20T00:04:37.556Z,1758326677.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 88.217468 m,
      bearing: 258.217330 deg,
      approach rate: -0.478931 m/s,
      LOS rate: -0.017407 deg/s,
      cmd heading: 243.711040 deg,
      new cmd heading: 243.697778 deg.

2025-09-20T00:04:37.558Z,1758326677.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253329 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:37.805Z,1758326677.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233707
2025-09-20T00:04:37.977Z,1758326677.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:37.980Z,1758326677.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 88.004280 m,
      bearing: 258.212156 deg,
      approach rate: -0.494218 m/s,
      LOS rate: -0.012025 deg/s,
      cmd heading: 243.697789 deg,
      new cmd heading: 243.687415 deg.

2025-09-20T00:04:37.981Z,1758326677.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253148 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:38.059Z,1758326678.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487311
2025-09-20T00:04:38.309Z,1758326678.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737471
2025-09-20T00:04:38.366Z,1758326678.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:38.369Z,1758326678.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 87.813034 m,
      bearing: 258.207546 deg,
      approach rate: -0.492393 m/s,
      LOS rate: -0.011894 deg/s,
      cmd heading: 243.687407 deg,
      new cmd heading: 243.678168 deg.

2025-09-20T00:04:38.370Z,1758326678.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252986 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:38.562Z,1758326678.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990081
2025-09-20T00:04:38.813Z,1758326678.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241654
2025-09-20T00:04:38.844Z,1758326678.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:38.847Z,1758326678.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 87.587814 m,
      bearing: 258.203458 deg,
      approach rate: -0.474861 m/s,
      LOS rate: -0.008643 deg/s,
      cmd heading: 243.678173 deg,
      new cmd heading: 243.669975 deg.

2025-09-20T00:04:38.853Z,1758326678.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252843 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:39.066Z,1758326679.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494199
2025-09-20T00:04:39.200Z,1758326679.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:39.202Z,1758326679.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:39.209Z,1758326679.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 87.405029 m,
      bearing: 258.200127 deg,
      approach rate: -0.504577 m/s,
      LOS rate: -0.009213 deg/s,
      cmd heading: 243.669977 deg,
      new cmd heading: 243.663302 deg.

2025-09-20T00:04:39.210Z,1758326679.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252727 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:39.318Z,1758326679.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746511
2025-09-20T00:04:39.570Z,1758326679.570 [DAT](INFO): DAT read: Rx Time:00:04:40.5337

2025-09-20T00:04:39.571Z,1758326679.571 [DAT](INFO): Rx dataTimestamp_ set to:1758326679.570355
2025-09-20T00:04:39.573Z,1758326679.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000802
2025-09-20T00:04:39.685Z,1758326679.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:39.688Z,1758326679.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 87.161720 m,
      bearing: 258.195692 deg,
      approach rate: -0.503743 m/s,
      LOS rate: -0.009209 deg/s,
      cmd heading: 243.663310 deg,
      new cmd heading: 243.654414 deg.

2025-09-20T00:04:39.689Z,1758326679.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252572 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:39.821Z,1758326679.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249602
2025-09-20T00:04:40.068Z,1758326680.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.46 m.
2025-09-20T00:04:40.073Z,1758326680.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501762
2025-09-20T00:04:40.086Z,1758326680.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.459839 m,
      nav range: 86.972984 m,
      bearing: 258.193141 deg,
      approach rate: -0.499693 m/s,
      LOS rate: -0.006767 deg/s,
      cmd heading: 243.654404 deg,
      new cmd heading: 243.649292 deg.

2025-09-20T00:04:40.096Z,1758326680.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252482 target range: 90.459839 and range: 90.70 m.
2025-09-20T00:04:40.332Z,1758326680.332 [DAT](INFO): DAT read: 00:04:40.5337 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.44,-0.655,-2.636,-0.987,-1.022, PHS= 0.468,-1.569,-0.009, RAW= 137.1,  12.0, CAL= 136.5,  13.1, ROT=  13.5, -13.1

2025-09-20T00:04:40.334Z,1758326680.334 [DAT](INFO): got valid direction response:
 00:04:40.5337 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.44,-0.655,-2.636,-0.987,-1.022, PHS= 0.468,-1.569,-0.009, RAW= 137.1,  12.0, CAL= 136.5,  13.1, ROT=  13.5, -13.1

2025-09-20T00:04:40.335Z,1758326680.335 [DAT](INFO): DAT read: Bearing  32.7,  12.7 (Local)

2025-09-20T00:04:40.335Z,1758326680.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.7,  12.7 (Local)

2025-09-20T00:04:40.337Z,1758326680.337 [DAT](INFO): DAT read: Range 11 to 50 : 88.9 m  (Round-trip  118.6 ms) speed  0.5 m/s

2025-09-20T00:04:40.338Z,1758326680.338 [DAT](INFO): DAT read: user:710>

2025-09-20T00:04:40.338Z,1758326680.338 [DAT](INFO): DAT read: Tx time:00:04:41.6610

2025-09-20T00:04:40.339Z,1758326680.339 [DAT](INFO): Ping request sent.
2025-09-20T00:04:40.339Z,1758326680.339 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:40.339Z,1758326680.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:40.340Z,1758326680.340 [DAT](INFO): direction in FSK: [0.947065,0.227370,0.226651]
2025-09-20T00:04:40.340Z,1758326680.340 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:40.341Z,1758326680.341 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:40.344Z,1758326680.344 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:40.344Z,1758326680.344 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:40.521Z,1758326680.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.900002 m,
      deltaT: 3.779859 s,
      deltaX: -1.799995 m,
      approachRate: -0.476207 m/s,
      rangeRepo size: 4

2025-09-20T00:04:40.523Z,1758326680.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.664711 m,
      bearing: 257.335310 deg,
      lat: 36.779450 deg,
      lon: -121.859721 deg,
      deltaT: 3.779859 s,
      deltaX: -1.795128 m,
      approachRate: -0.474919 m/s,
      posRepo size: 4

2025-09-20T00:04:40.528Z,1758326680.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:40.531Z,1758326680.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 86.525642 m,
      bearing: 258.132930 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006767 deg/s,
      cmd heading: 243.649295 deg,
      new cmd heading: 243.643103 deg.

2025-09-20T00:04:40.532Z,1758326680.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252374 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:40.939Z,1758326680.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:40.946Z,1758326680.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 86.311005 m,
      bearing: 258.129902 deg,
      approach rate: -0.513142 m/s,
      LOS rate: -0.007258 deg/s,
      cmd heading: 243.643093 deg,
      new cmd heading: 243.637021 deg.

2025-09-20T00:04:40.947Z,1758326680.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252268 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:41.317Z,1758326681.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:41.319Z,1758326681.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:41.326Z,1758326681.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 86.115891 m,
      bearing: 258.127192 deg,
      approach rate: -0.512986 m/s,
      LOS rate: -0.007139 deg/s,
      cmd heading: 243.637028 deg,
      new cmd heading: 243.631597 deg.

2025-09-20T00:04:41.327Z,1758326681.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252173 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:41.333Z,1758326681.333 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:41.333Z,1758326681.333 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:41.333Z,1758326681.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:41.585Z,1758326681.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246446
2025-09-20T00:04:41.705Z,1758326681.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:41.707Z,1758326681.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 85.907600 m,
      bearing: 258.124329 deg,
      approach rate: -0.540471 m/s,
      LOS rate: -0.007449 deg/s,
      cmd heading: 243.631591 deg,
      new cmd heading: 243.625850 deg.

2025-09-20T00:04:41.709Z,1758326681.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252073 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:41.838Z,1758326681.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499358
2025-09-20T00:04:42.089Z,1758326682.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750056
2025-09-20T00:04:42.145Z,1758326682.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:42.152Z,1758326682.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 85.693390 m,
      bearing: 258.123358 deg,
      approach rate: -0.486111 m/s,
      LOS rate: -0.002210 deg/s,
      cmd heading: 243.625854 deg,
      new cmd heading: 243.623906 deg.

2025-09-20T00:04:42.153Z,1758326682.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252039 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:42.341Z,1758326682.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001959
2025-09-20T00:04:42.509Z,1758326682.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:42.511Z,1758326682.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 85.497925 m,
      bearing: 258.122460 deg,
      approach rate: -0.537658 m/s,
      LOS rate: -0.002474 deg/s,
      cmd heading: 243.623914 deg,
      new cmd heading: 243.622115 deg.

2025-09-20T00:04:42.513Z,1758326682.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252008 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:42.594Z,1758326682.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254982
2025-09-20T00:04:42.845Z,1758326682.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506024
2025-09-20T00:04:42.949Z,1758326682.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:42.952Z,1758326682.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 85.275375 m,
      bearing: 258.119413 deg,
      approach rate: -0.505405 m/s,
      LOS rate: -0.006939 deg/s,
      cmd heading: 243.622111 deg,
      new cmd heading: 243.616000 deg.

2025-09-20T00:04:42.953Z,1758326682.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251901 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:43.097Z,1758326683.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758392
2025-09-20T00:04:43.338Z,1758326683.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:43.340Z,1758326683.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:43.343Z,1758326683.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 85.076546 m,
      bearing: 258.116676 deg,
      approach rate: -0.508064 m/s,
      LOS rate: -0.007008 deg/s,
      cmd heading: 243.615991 deg,
      new cmd heading: 243.610506 deg.

2025-09-20T00:04:43.349Z,1758326683.349 [DAT](INFO): DAT read: Rx Time:00:04:44.1812

2025-09-20T00:04:43.350Z,1758326683.350 [DAT](INFO): Rx dataTimestamp_ set to:1758326683.349241
2025-09-20T00:04:43.350Z,1758326683.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011214
2025-09-20T00:04:43.364Z,1758326683.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251805 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:43.601Z,1758326683.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262424
2025-09-20T00:04:43.800Z,1758326683.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.66 m.
2025-09-20T00:04:43.819Z,1758326683.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.664711 m,
      nav range: 84.860207 m,
      bearing: 258.113885 deg,
      approach rate: -0.475278 m/s,
      LOS rate: -0.006149 deg/s,
      cmd heading: 243.610499 deg,
      new cmd heading: 243.604901 deg.

2025-09-20T00:04:43.827Z,1758326683.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251708 target range: 88.664711 and range: 88.90 m.
2025-09-20T00:04:43.884Z,1758326683.884 [DAT](INFO): DAT read: 00:04:44.1812 LVL= 29280, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.06,-1.964, 2.403,-2.271,-2.328, PHS= 0.466,-1.508, 0.012, RAW= 137.3,  11.5, CAL= 136.8,  12.5, ROT=  13.2, -12.5

2025-09-20T00:04:43.885Z,1758326683.885 [DAT](INFO): got valid direction response:
 00:04:44.1812 LVL= 29280, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.06,-1.964, 2.403,-2.271,-2.328, PHS= 0.466,-1.508, 0.012, RAW= 137.3,  11.5, CAL= 136.8,  12.5, ROT=  13.2, -12.5

2025-09-20T00:04:43.886Z,1758326683.886 [DAT](INFO): DAT read: Bearing  32.1,  12.9 (Local)

2025-09-20T00:04:43.886Z,1758326683.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.1,  12.9 (Local)

2025-09-20T00:04:43.908Z,1758326683.908 [DAT](INFO): DAT read: Range 11 to 50 : 87.0 m  (Round-trip  116.1 ms) speed  0.3 m/s

2025-09-20T00:04:43.909Z,1758326683.909 [DAT](INFO): DAT read: user:711>

2025-09-20T00:04:43.909Z,1758326683.909 [DAT](INFO): DAT read: Tx time:00:04:45.3110

2025-09-20T00:04:43.910Z,1758326683.910 [DAT](INFO): Ping request sent.
2025-09-20T00:04:43.910Z,1758326683.910 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:43.910Z,1758326683.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:43.911Z,1758326683.911 [DAT](INFO): direction in FSK: [0.950501,0.222938,0.216440]
2025-09-20T00:04:43.911Z,1758326683.911 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:43.915Z,1758326683.915 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:43.934Z,1758326683.934 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:43.934Z,1758326683.934 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:44.305Z,1758326684.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.000000 m,
      deltaT: 3.529877 s,
      deltaX: -1.900002 m,
      approachRate: -0.538263 m/s,
      rangeRepo size: 4

2025-09-20T00:04:44.307Z,1758326684.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.769653 m,
      bearing: 256.943212 deg,
      lat: 36.779440 deg,
      lon: -121.859719 deg,
      deltaT: 3.529877 s,
      deltaX: -1.895058 m,
      approachRate: -0.536862 m/s,
      posRepo size: 4

2025-09-20T00:04:44.308Z,1758326684.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:44.310Z,1758326684.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 84.648438 m,
      bearing: 257.315521 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006149 deg/s,
      cmd heading: 243.604899 deg,
      new cmd heading: 243.598647 deg.

2025-09-20T00:04:44.311Z,1758326684.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251598 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:44.688Z,1758326684.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:44.691Z,1758326684.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 84.458290 m,
      bearing: 257.315627 deg,
      approach rate: -0.495212 m/s,
      LOS rate: 0.000275 deg/s,
      cmd heading: 243.598642 deg,
      new cmd heading: 243.598854 deg.

2025-09-20T00:04:44.696Z,1758326684.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251602 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:45.114Z,1758326685.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:45.118Z,1758326685.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 84.232697 m,
      bearing: 257.312758 deg,
      approach rate: -0.528994 m/s,
      LOS rate: -0.006744 deg/s,
      cmd heading: 243.598861 deg,
      new cmd heading: 243.593109 deg.

2025-09-20T00:04:45.118Z,1758326685.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251502 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:45.475Z,1758326685.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:45.478Z,1758326685.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:45.486Z,1758326685.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 84.050034 m,
      bearing: 257.310361 deg,
      approach rate: -0.503017 m/s,
      LOS rate: -0.006616 deg/s,
      cmd heading: 243.593096 deg,
      new cmd heading: 243.588291 deg.

2025-09-20T00:04:45.487Z,1758326685.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251418 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:45.617Z,1758326685.617 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:45.617Z,1758326685.617 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:45.618Z,1758326685.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:45.872Z,1758326685.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961184
2025-09-20T00:04:45.954Z,1758326685.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:45.957Z,1758326685.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 83.814125 m,
      bearing: 257.305703 deg,
      approach rate: -0.495322 m/s,
      LOS rate: -0.009807 deg/s,
      cmd heading: 243.588288 deg,
      new cmd heading: 243.578946 deg.

2025-09-20T00:04:45.958Z,1758326685.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251255 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:46.121Z,1758326686.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210943
2025-09-20T00:04:46.287Z,1758326686.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:46.293Z,1758326686.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 83.649506 m,
      bearing: 257.302365 deg,
      approach rate: -0.494268 m/s,
      LOS rate: -0.010042 deg/s,
      cmd heading: 243.578944 deg,
      new cmd heading: 243.572255 deg.

2025-09-20T00:04:46.294Z,1758326686.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251138 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:46.374Z,1758326686.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463928
2025-09-20T00:04:46.625Z,1758326686.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714956
2025-09-20T00:04:46.684Z,1758326686.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:46.687Z,1758326686.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 83.452522 m,
      bearing: 257.298338 deg,
      approach rate: -0.495567 m/s,
      LOS rate: -0.010155 deg/s,
      cmd heading: 243.572250 deg,
      new cmd heading: 243.564177 deg.

2025-09-20T00:04:46.688Z,1758326686.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250997 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:46.879Z,1758326686.879 [DAT](INFO): DAT read: Rx Time:00:04:47.8288

2025-09-20T00:04:46.881Z,1758326686.881 [DAT](INFO): Rx dataTimestamp_ set to:1758326686.880075
2025-09-20T00:04:46.883Z,1758326686.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972662
2025-09-20T00:04:47.118Z,1758326687.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:47.121Z,1758326687.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 83.231041 m,
      bearing: 257.296128 deg,
      approach rate: -0.510947 m/s,
      LOS rate: -0.005113 deg/s,
      cmd heading: 243.564191 deg,
      new cmd heading: 243.559758 deg.

2025-09-20T00:04:47.122Z,1758326687.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250920 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:47.129Z,1758326687.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219114
2025-09-20T00:04:47.385Z,1758326687.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474202
2025-09-20T00:04:47.492Z,1758326687.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:47.494Z,1758326687.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-09-20T00:04:47.497Z,1758326687.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.769653 m,
      nav range: 83.038391 m,
      bearing: 257.294203 deg,
      approach rate: -0.512442 m/s,
      LOS rate: -0.005132 deg/s,
      cmd heading: 243.559765 deg,
      new cmd heading: 243.555906 deg.

2025-09-20T00:04:47.498Z,1758326687.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250853 target range: 86.769653 and range: 87.00 m.
2025-09-20T00:04:47.645Z,1758326687.645 [DAT](INFO): DAT read: 00:04:47.8288 LVL= 29200, 32753, 31714, 32755, AGC= 67, IDX= 426,-0.44, 1.687,-0.282, 1.385, 1.316, PHS= 0.473,-1.553, 0.025, RAW= 137.9,  11.4, CAL= 137.3,  12.5, ROT=  12.7, -12.5

2025-09-20T00:04:47.646Z,1758326687.646 [DAT](INFO): got valid direction response:
 00:04:47.8288 LVL= 29200, 32753, 31714, 32755, AGC= 67, IDX= 426,-0.44, 1.687,-0.282, 1.385, 1.316, PHS= 0.473,-1.553, 0.025, RAW= 137.9,  11.4, CAL= 137.3,  12.5, ROT=  12.7, -12.5

2025-09-20T00:04:47.647Z,1758326687.647 [DAT](INFO): DAT read: Bearing  32.0,  12.6 (Local)

2025-09-20T00:04:47.647Z,1758326687.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.0,  12.6 (Local)

2025-09-20T00:04:47.661Z,1758326687.661 [DAT](INFO): DAT read: Range 11 to 50 : 85.2 m  (Round-trip  113.7 ms) speed  0.4 m/s

2025-09-20T00:04:47.662Z,1758326687.662 [DAT](INFO): DAT read: user:712>

2025-09-20T00:04:47.662Z,1758326687.662 [DAT](INFO): DAT read: Tx time:00:04:48.9109

2025-09-20T00:04:47.663Z,1758326687.663 [DAT](INFO): Ping request sent.
2025-09-20T00:04:47.663Z,1758326687.663 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:47.663Z,1758326687.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:47.676Z,1758326687.676 [DAT](INFO): direction in FSK: [0.952410,0.214635,0.216440]
2025-09-20T00:04:47.677Z,1758326687.677 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:47.677Z,1758326687.677 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:47.692Z,1758326687.692 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:47.694Z,1758326687.694 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:47.977Z,1758326687.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.199997 m,
      deltaT: 3.783805 s,
      deltaX: -1.800003 m,
      approachRate: -0.475712 m/s,
      rangeRepo size: 4

2025-09-20T00:04:47.979Z,1758326687.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.974609 m,
      bearing: 256.464654 deg,
      lat: 36.779439 deg,
      lon: -121.859718 deg,
      deltaT: 3.783805 s,
      deltaX: -1.795044 m,
      approachRate: -0.474402 m/s,
      posRepo size: 4

2025-09-20T00:04:47.980Z,1758326687.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.97 m.
2025-09-20T00:04:47.998Z,1758326687.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.974609 m,
      nav range: 82.780693 m,
      bearing: 257.179721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005132 deg/s,
      cmd heading: 243.555912 deg,
      new cmd heading: 243.550963 deg.

2025-09-20T00:04:47.999Z,1758326687.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250766 target range: 84.974609 and range: 85.20 m.
2025-09-20T00:04:48.334Z,1758326688.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.97 m.
2025-09-20T00:04:48.337Z,1758326688.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.974609 m,
      nav range: 82.605339 m,
      bearing: 257.174626 deg,
      approach rate: -0.489306 m/s,
      LOS rate: -0.014246 deg/s,
      cmd heading: 243.550967 deg,
      new cmd heading: 243.540756 deg.

2025-09-20T00:04:48.338Z,1758326688.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250588 target range: 84.974609 and range: 85.20 m.
2025-09-20T00:04:48.768Z,1758326688.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.97 m.
2025-09-20T00:04:48.771Z,1758326688.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.974609 m,
      nav range: 82.408241 m,
      bearing: 257.168846 deg,
      approach rate: -0.458913 m/s,
      LOS rate: -0.013490 deg/s,
      cmd heading: 243.540749 deg,
      new cmd heading: 243.529162 deg.

2025-09-20T00:04:48.781Z,1758326688.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250386 target range: 84.974609 and range: 85.20 m.
2025-09-20T00:04:49.164Z,1758326689.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.97 m.
2025-09-20T00:04:49.167Z,1758326689.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.974609 m,
      nav range: 82.197746 m,
      bearing: 257.161490 deg,
      approach rate: -0.525902 m/s,
      LOS rate: -0.018426 deg/s,
      cmd heading: 243.529165 deg,
      new cmd heading: 243.514415 deg.

2025-09-20T00:04:49.168Z,1758326689.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250128 target range: 84.974609 and range: 85.20 m.
2025-09-20T00:04:49.559Z,1758326689.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:49.561Z,1758326689.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.97 m.
2025-09-20T00:04:49.564Z,1758326689.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.974609 m,
      nav range: 82.000877 m,
      bearing: 257.154603 deg,
      approach rate: -0.495695 m/s,
      LOS rate: -0.017383 deg/s,
      cmd heading: 243.514412 deg,
      new cmd heading: 243.500605 deg.

2025-09-20T00:04:49.565Z,1758326689.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249887 target range: 84.974609 and range: 85.20 m.
2025-09-20T00:04:49.650Z,1758326689.650 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:49.650Z,1758326689.650 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:49.650Z,1758326689.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:49.904Z,1758326689.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240406
2025-09-20T00:04:50.006Z,1758326690.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.97 m.
2025-09-20T00:04:50.009Z,1758326690.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.974609 m,
      nav range: 81.782089 m,
      bearing: 257.145383 deg,
      approach rate: -0.491526 m/s,
      LOS rate: -0.020769 deg/s,
      cmd heading: 243.500615 deg,
      new cmd heading: 243.482126 deg.

2025-09-20T00:04:50.010Z,1758326690.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249565 target range: 84.974609 and range: 85.20 m.
2025-09-20T00:04:50.153Z,1758326690.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490207
2025-09-20T00:04:50.353Z,1758326690.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.97 m.
2025-09-20T00:04:50.355Z,1758326690.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.974609 m,
      nav range: 81.612946 m,
      bearing: 257.138239 deg,
      approach rate: -0.488770 m/s,
      LOS rate: -0.020686 deg/s,
      cmd heading: 243.482119 deg,
      new cmd heading: 243.467802 deg.

2025-09-20T00:04:50.356Z,1758326690.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249315 target range: 84.974609 and range: 85.20 m.
2025-09-20T00:04:50.405Z,1758326690.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742567
2025-09-20T00:04:50.657Z,1758326690.657 [DAT](INFO): DAT read: Rx Time:00:04:51.4263

2025-09-20T00:04:50.658Z,1758326690.658 [DAT](INFO): Rx dataTimestamp_ set to:1758326690.657390
2025-09-20T00:04:50.658Z,1758326690.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995406
2025-09-20T00:04:50.785Z,1758326690.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.97 m.
2025-09-20T00:04:50.788Z,1758326690.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.974609 m,
      nav range: 81.409706 m,
      bearing: 257.129707 deg,
      approach rate: -0.471331 m/s,
      LOS rate: -0.019836 deg/s,
      cmd heading: 243.467803 deg,
      new cmd heading: 243.450697 deg.

2025-09-20T00:04:50.789Z,1758326690.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249016 target range: 84.974609 and range: 85.20 m.
2025-09-20T00:04:50.912Z,1758326690.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248870
2025-09-20T00:04:51.167Z,1758326691.167 [DAT](INFO): DAT read: 00:04:51.4263 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.12,-2.248, 2.033,-2.551,-2.658, PHS= 0.512,-1.547, 0.063, RAW= 138.0,  10.4, CAL= 137.6,  11.4, ROT=  12.4, -11.4

2025-09-20T00:04:51.168Z,1758326691.168 [DAT](INFO): got valid direction response:
 00:04:51.4263 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.12,-2.248, 2.033,-2.551,-2.658, PHS= 0.512,-1.547, 0.063, RAW= 138.0,  10.4, CAL= 137.6,  11.4, ROT=  12.4, -11.4

2025-09-20T00:04:51.169Z,1758326691.169 [DAT](INFO): DAT read: Bearing  30.7,  12.9 (Local)

2025-09-20T00:04:51.169Z,1758326691.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.7,  12.9 (Local)

2025-09-20T00:04:51.171Z,1758326691.171 [DAT](INFO): DAT read: Range 11 to 50 : 83.4 m  (Round-trip  111.3 ms) speed  0.4 m/s

2025-09-20T00:04:51.171Z,1758326691.171 [DAT](INFO): DAT read: user:713>

2025-09-20T00:04:51.173Z,1758326691.173 [DAT](INFO): DAT read: Tx time:00:04:52.5109

2025-09-20T00:04:51.173Z,1758326691.173 [DAT](INFO): Ping request sent.
2025-09-20T00:04:51.173Z,1758326691.173 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:51.174Z,1758326691.174 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:51.175Z,1758326691.175 [DAT](INFO): direction in FSK: [0.957404,0.210499,0.197657]
2025-09-20T00:04:51.175Z,1758326691.175 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:51.175Z,1758326691.175 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:51.178Z,1758326691.178 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:51.179Z,1758326691.179 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:51.277Z,1758326691.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.400002 m,
      deltaT: 3.522404 s,
      deltaX: -1.799995 m,
      approachRate: -0.511013 m/s,
      rangeRepo size: 4

2025-09-20T00:04:51.279Z,1758326691.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.179070 m,
      bearing: 256.063551 deg,
      lat: 36.779435 deg,
      lon: -121.859718 deg,
      deltaT: 3.522404 s,
      deltaX: -1.795540 m,
      approachRate: -0.509748 m/s,
      posRepo size: 4

2025-09-20T00:04:51.283Z,1758326691.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:51.294Z,1758326691.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 81.228951 m,
      bearing: 256.839209 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019836 deg/s,
      cmd heading: 243.450700 deg,
      new cmd heading: 243.431353 deg.

2025-09-20T00:04:51.295Z,1758326691.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248679 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:51.628Z,1758326691.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:51.630Z,1758326691.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:51.633Z,1758326691.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 81.038162 m,
      bearing: 256.833001 deg,
      approach rate: -0.531580 m/s,
      LOS rate: -0.017338 deg/s,
      cmd heading: 243.431357 deg,
      new cmd heading: 243.418912 deg.

2025-09-20T00:04:51.634Z,1758326691.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248461 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:51.665Z,1758326691.665 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:51.665Z,1758326691.665 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:51.665Z,1758326691.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:51.917Z,1758326691.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743612
2025-09-20T00:04:52.066Z,1758326692.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:52.070Z,1758326692.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 80.812782 m,
      bearing: 256.826031 deg,
      approach rate: -0.517233 m/s,
      LOS rate: -0.016040 deg/s,
      cmd heading: 243.418899 deg,
      new cmd heading: 243.404920 deg.

2025-09-20T00:04:52.071Z,1758326692.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248217 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:52.170Z,1758326692.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996530
2025-09-20T00:04:52.421Z,1758326692.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247647
2025-09-20T00:04:52.465Z,1758326692.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:52.472Z,1758326692.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 80.624138 m,
      bearing: 256.820222 deg,
      approach rate: -0.472375 m/s,
      LOS rate: -0.014578 deg/s,
      cmd heading: 243.404911 deg,
      new cmd heading: 243.393267 deg.

2025-09-20T00:04:52.473Z,1758326692.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248014 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:52.677Z,1758326692.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503413
2025-09-20T00:04:52.927Z,1758326692.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753572
2025-09-20T00:04:52.971Z,1758326692.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:52.992Z,1758326692.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 80.391693 m,
      bearing: 256.813055 deg,
      approach rate: -0.460380 m/s,
      LOS rate: -0.014236 deg/s,
      cmd heading: 243.393272 deg,
      new cmd heading: 243.378896 deg.

2025-09-20T00:04:52.993Z,1758326692.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247763 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:53.072Z,1758326693.072 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:04:53.177Z,1758326693.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003483
2025-09-20T00:04:53.381Z,1758326693.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:53.388Z,1758326693.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 80.161011 m,
      bearing: 256.808291 deg,
      approach rate: -0.561845 m/s,
      LOS rate: -0.011638 deg/s,
      cmd heading: 243.378901 deg,
      new cmd heading: 243.369345 deg.

2025-09-20T00:04:53.389Z,1758326693.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247596 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:53.430Z,1758326693.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255775
2025-09-20T00:04:53.681Z,1758326693.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507489
2025-09-20T00:04:53.787Z,1758326693.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:53.789Z,1758326693.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:53.792Z,1758326693.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 79.953499 m,
      bearing: 256.804027 deg,
      approach rate: -0.507905 m/s,
      LOS rate: -0.010464 deg/s,
      cmd heading: 243.369339 deg,
      new cmd heading: 243.360789 deg.

2025-09-20T00:04:53.793Z,1758326693.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247447 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:53.933Z,1758326693.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759573
2025-09-20T00:04:54.076Z,1758326694.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:04:54.183Z,1758326694.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:54.185Z,1758326694.185 [DAT](INFO): DAT read: Rx Time:00:04:55.0239

2025-09-20T00:04:54.186Z,1758326694.186 [DAT](INFO): Rx dataTimestamp_ set to:1758326694.185221
2025-09-20T00:04:54.186Z,1758326694.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012715
2025-09-20T00:04:54.188Z,1758326694.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 79.753807 m,
      bearing: 256.801558 deg,
      approach rate: -0.507608 m/s,
      LOS rate: -0.006292 deg/s,
      cmd heading: 243.360788 deg,
      new cmd heading: 243.355837 deg.

2025-09-20T00:04:54.189Z,1758326694.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247361 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:54.438Z,1758326694.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264195
2025-09-20T00:04:54.635Z,1758326694.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.18 m.
2025-09-20T00:04:54.642Z,1758326694.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.179070 m,
      nav range: 79.541519 m,
      bearing: 256.798919 deg,
      approach rate: -0.469459 m/s,
      LOS rate: -0.005850 deg/s,
      cmd heading: 243.355843 deg,
      new cmd heading: 243.350552 deg.

2025-09-20T00:04:54.643Z,1758326694.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247268 target range: 83.179070 and range: 83.40 m.
2025-09-20T00:04:54.695Z,1758326694.695 [DAT](INFO): DAT read: 00:04:55.0239 LVL= 30448, 32753, 32482, 32755, AGC= 67, IDX= 423, 0.04, 1.992, 0.067, 1.713, 1.649, PHS= 0.445,-1.537, 0.019, RAW= 138.2,  11.9, CAL= 137.6,  12.9, ROT=  12.4, -12.9

2025-09-20T00:04:54.696Z,1758326694.696 [DAT](INFO): got valid direction response:
 00:04:55.0239 LVL= 30448, 32753, 32482, 32755, AGC= 67, IDX= 423, 0.04, 1.992, 0.067, 1.713, 1.649, PHS= 0.445,-1.537, 0.019, RAW= 138.2,  11.9, CAL= 137.6,  12.9, ROT=  12.4, -12.9

2025-09-20T00:04:54.697Z,1758326694.697 [DAT](INFO): DAT read: Bearing  32.2,  13.0 (Local)

2025-09-20T00:04:54.697Z,1758326694.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.2,  13.0 (Local)

2025-09-20T00:04:54.699Z,1758326694.699 [DAT](INFO): DAT read: Range 11 to 50 : 81.6 m  (Round-trip  108.8 ms) speed  0.4 m/s

2025-09-20T00:04:54.699Z,1758326694.699 [DAT](INFO): DAT read: user:714>

2025-09-20T00:04:54.701Z,1758326694.701 [DAT](INFO): DAT read: Tx time:00:04:56.1109

2025-09-20T00:04:54.701Z,1758326694.701 [DAT](INFO): Ping request sent.
2025-09-20T00:04:54.701Z,1758326694.701 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:54.702Z,1758326694.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:54.703Z,1758326694.703 [DAT](INFO): direction in FSK: [0.952022,0.209316,0.223250]
2025-09-20T00:04:54.703Z,1758326694.703 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:54.703Z,1758326694.703 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:54.706Z,1758326694.706 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:54.706Z,1758326694.706 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:55.049Z,1758326695.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.599998 m,
      deltaT: 3.528101 s,
      deltaX: -1.800003 m,
      approachRate: -0.510190 m/s,
      rangeRepo size: 4

2025-09-20T00:04:55.051Z,1758326695.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.383926 m,
      bearing: 255.993484 deg,
      lat: 36.779429 deg,
      lon: -121.859716 deg,
      deltaT: 3.528101 s,
      deltaX: -1.795143 m,
      approachRate: -0.508813 m/s,
      posRepo size: 4

2025-09-20T00:04:55.052Z,1758326695.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.38 m.
2025-09-20T00:04:55.058Z,1758326695.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.383926 m,
      nav range: 79.356293 m,
      bearing: 256.340677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005850 deg/s,
      cmd heading: 243.350542 deg,
      new cmd heading: 243.345757 deg.

2025-09-20T00:04:55.059Z,1758326695.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247185 target range: 81.383926 and range: 81.60 m.
2025-09-20T00:04:55.389Z,1758326695.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.38 m.
2025-09-20T00:04:55.391Z,1758326695.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.383926 m,
      nav range: 79.160881 m,
      bearing: 256.337955 deg,
      approach rate: -0.567012 m/s,
      LOS rate: -0.007920 deg/s,
      cmd heading: 243.345761 deg,
      new cmd heading: 243.340303 deg.

2025-09-20T00:04:55.393Z,1758326695.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247089 target range: 81.383926 and range: 81.60 m.
2025-09-20T00:04:55.772Z,1758326695.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.38 m.
2025-09-20T00:04:55.775Z,1758326695.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.383926 m,
      nav range: 78.972305 m,
      bearing: 256.335348 deg,
      approach rate: -0.491540 m/s,
      LOS rate: -0.006810 deg/s,
      cmd heading: 243.340297 deg,
      new cmd heading: 243.335072 deg.

2025-09-20T00:04:55.776Z,1758326695.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246998 target range: 81.383926 and range: 81.60 m.
2025-09-20T00:04:56.198Z,1758326696.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:56.201Z,1758326696.201 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:56.201Z,1758326696.201 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:56.201Z,1758326696.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:56.204Z,1758326696.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.38 m.
2025-09-20T00:04:56.207Z,1758326696.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.383926 m,
      nav range: 78.769745 m,
      bearing: 256.331176 deg,
      approach rate: -0.469286 m/s,
      LOS rate: -0.009692 deg/s,
      cmd heading: 243.335079 deg,
      new cmd heading: 243.326712 deg.

2025-09-20T00:04:56.209Z,1758326696.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246852 target range: 81.383926 and range: 81.60 m.
2025-09-20T00:04:56.454Z,1758326696.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752488
2025-09-20T00:04:56.572Z,1758326696.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.38 m.
2025-09-20T00:04:56.575Z,1758326696.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.383926 m,
      nav range: 78.593315 m,
      bearing: 256.327427 deg,
      approach rate: -0.478777 m/s,
      LOS rate: -0.010197 deg/s,
      cmd heading: 243.326719 deg,
      new cmd heading: 243.319204 deg.

2025-09-20T00:04:56.576Z,1758326696.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246721 target range: 81.383926 and range: 81.60 m.
2025-09-20T00:04:56.705Z,1758326696.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003928
2025-09-20T00:04:56.957Z,1758326696.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255591
2025-09-20T00:04:57.061Z,1758326697.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.38 m.
2025-09-20T00:04:57.070Z,1758326697.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.383926 m,
      nav range: 78.369637 m,
      bearing: 256.322595 deg,
      approach rate: -0.457879 m/s,
      LOS rate: -0.009920 deg/s,
      cmd heading: 243.319205 deg,
      new cmd heading: 243.309514 deg.

2025-09-20T00:04:57.071Z,1758326697.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246552 target range: 81.383926 and range: 81.60 m.
2025-09-20T00:04:57.209Z,1758326697.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507541
2025-09-20T00:04:57.401Z,1758326697.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.38 m.
2025-09-20T00:04:57.404Z,1758326697.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.383926 m,
      nav range: 78.200134 m,
      bearing: 256.316407 deg,
      approach rate: -0.498433 m/s,
      LOS rate: -0.018233 deg/s,
      cmd heading: 243.309507 deg,
      new cmd heading: 243.297105 deg.

2025-09-20T00:04:57.405Z,1758326697.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246336 target range: 81.383926 and range: 81.60 m.
2025-09-20T00:04:57.462Z,1758326697.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760317
2025-09-20T00:04:57.713Z,1758326697.713 [DAT](INFO): DAT read: Rx Time:00:04:58.6216

2025-09-20T00:04:57.714Z,1758326697.714 [DAT](INFO): Rx dataTimestamp_ set to:1758326697.713347
2025-09-20T00:04:57.714Z,1758326697.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012865
2025-09-20T00:04:57.797Z,1758326697.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.38 m.
2025-09-20T00:04:57.799Z,1758326697.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.383926 m,
      nav range: 78.011818 m,
      bearing: 256.309461 deg,
      approach rate: -0.475973 m/s,
      LOS rate: -0.017600 deg/s,
      cmd heading: 243.297103 deg,
      new cmd heading: 243.283176 deg.

2025-09-20T00:04:57.801Z,1758326697.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246092 target range: 81.383926 and range: 81.60 m.
2025-09-20T00:04:57.965Z,1758326697.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263535
2025-09-20T00:04:58.232Z,1758326698.232 [DAT](INFO): DAT read: 00:04:58.6216 LVL= 32752, 32753, 31634, 32755, AGC= 68, IDX= 416, 0.47,-0.738,-2.695,-1.032,-1.133, PHS= 0.498,-1.517, 0.058, RAW= 138.0,  10.5, CAL= 137.5,  11.5, ROT=  12.5, -11.5

2025-09-20T00:04:58.246Z,1758326698.246 [DAT](INFO): got valid direction response:
 00:04:58.6216 LVL= 32752, 32753, 31634, 32755, AGC= 68, IDX= 416, 0.47,-0.738,-2.695,-1.032,-1.133, PHS= 0.498,-1.517, 0.058, RAW= 138.0,  10.5, CAL= 137.5,  11.5, ROT=  12.5, -11.5

2025-09-20T00:04:58.247Z,1758326698.247 [DAT](INFO): DAT read: Bearing  30.6,  13.5 (Local)

2025-09-20T00:04:58.247Z,1758326698.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.6,  13.5 (Local)

2025-09-20T00:04:58.253Z,1758326698.253 [DAT](INFO): DAT read: Range 11 to 50 : 79.9 m  (Round-trip  106.6 ms) speed  0.4 m/s

2025-09-20T00:04:58.253Z,1758326698.253 [DAT](INFO): DAT read: user:715>

2025-09-20T00:04:58.254Z,1758326698.254 [DAT](INFO): DAT read: Tx time:00:04:59.7109

2025-09-20T00:04:58.254Z,1758326698.254 [DAT](INFO): Ping request sent.
2025-09-20T00:04:58.254Z,1758326698.254 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:04:58.255Z,1758326698.255 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:04:58.260Z,1758326698.260 [DAT](INFO): direction in FSK: [0.956697,0.212095,0.199368]
2025-09-20T00:04:58.260Z,1758326698.260 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:58.260Z,1758326698.260 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:58.263Z,1758326698.263 [DAT](INFO): publishing transmit ping time
2025-09-20T00:04:58.272Z,1758326698.272 [DAT](INFO): publishing direction and range info
2025-09-20T00:04:58.339Z,1758326698.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.900002 m,
      deltaT: 3.530813 s,
      deltaX: -1.699997 m,
      approachRate: -0.481475 m/s,
      rangeRepo size: 4

2025-09-20T00:04:58.345Z,1758326698.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.688255 m,
      bearing: 256.103056 deg,
      lat: 36.779427 deg,
      lon: -121.859716 deg,
      deltaT: 3.530813 s,
      deltaX: -1.695671 m,
      approachRate: -0.480249 m/s,
      posRepo size: 4

2025-09-20T00:04:58.346Z,1758326698.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:04:58.353Z,1758326698.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 77.833427 m,
      bearing: 256.110738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017600 deg/s,
      cmd heading: 243.283169 deg,
      new cmd heading: 243.264109 deg.

2025-09-20T00:04:58.354Z,1758326698.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.245759 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:04:58.729Z,1758326698.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:04:58.741Z,1758326698.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:04:58.746Z,1758326698.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 77.639175 m,
      bearing: 256.097459 deg,
      approach rate: -0.493095 m/s,
      LOS rate: -0.033792 deg/s,
      cmd heading: 243.264099 deg,
      new cmd heading: 243.237475 deg.

2025-09-20T00:04:58.747Z,1758326698.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.245295 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:04:58.973Z,1758326698.973 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:04:58.973Z,1758326698.973 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:04:58.973Z,1758326698.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:04:59.142Z,1758326699.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:04:59.145Z,1758326699.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 77.434990 m,
      bearing: 256.082536 deg,
      approach rate: -0.498676 m/s,
      LOS rate: -0.036542 deg/s,
      cmd heading: 243.237462 deg,
      new cmd heading: 243.207537 deg.

2025-09-20T00:04:59.146Z,1758326699.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244772 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:04:59.226Z,1758326699.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.970982
2025-09-20T00:04:59.477Z,1758326699.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222289
2025-09-20T00:04:59.493Z,1758326699.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:04:59.497Z,1758326699.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 77.257248 m,
      bearing: 256.069463 deg,
      approach rate: -0.505084 m/s,
      LOS rate: -0.037236 deg/s,
      cmd heading: 243.207545 deg,
      new cmd heading: 243.181338 deg.

2025-09-20T00:04:59.498Z,1758326699.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244315 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:04:59.730Z,1758326699.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475463
2025-09-20T00:04:59.891Z,1758326699.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:04:59.894Z,1758326699.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 77.065163 m,
      bearing: 256.055230 deg,
      approach rate: -0.482857 m/s,
      LOS rate: -0.035866 deg/s,
      cmd heading: 243.181345 deg,
      new cmd heading: 243.152809 deg.

2025-09-20T00:04:59.895Z,1758326699.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243817 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:04:59.982Z,1758326699.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726981
2025-09-20T00:05:00.233Z,1758326700.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978327
2025-09-20T00:05:00.333Z,1758326700.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:05:00.335Z,1758326700.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 76.842323 m,
      bearing: 256.040229 deg,
      approach rate: -0.505094 m/s,
      LOS rate: -0.034102 deg/s,
      cmd heading: 243.152822 deg,
      new cmd heading: 243.122732 deg.

2025-09-20T00:05:00.336Z,1758326700.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243292 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:05:00.485Z,1758326700.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230464
2025-09-20T00:05:00.704Z,1758326700.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:05:00.707Z,1758326700.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 76.653931 m,
      bearing: 256.027526 deg,
      approach rate: -0.506590 m/s,
      LOS rate: -0.034241 deg/s,
      cmd heading: 243.122742 deg,
      new cmd heading: 243.097274 deg.

2025-09-20T00:05:00.709Z,1758326700.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242848 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:05:00.737Z,1758326700.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482902
2025-09-20T00:05:00.989Z,1758326700.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734923
2025-09-20T00:05:01.146Z,1758326701.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:01.148Z,1758326701.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:05:01.151Z,1758326701.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 76.438225 m,
      bearing: 256.010145 deg,
      approach rate: -0.486048 m/s,
      LOS rate: -0.039274 deg/s,
      cmd heading: 243.097279 deg,
      new cmd heading: 243.062419 deg.

2025-09-20T00:05:01.152Z,1758326701.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242239 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:05:01.242Z,1758326701.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986810
2025-09-20T00:05:01.493Z,1758326701.493 [DAT](INFO): DAT read: Rx Time:00:05:02.2193

2025-09-20T00:05:01.494Z,1758326701.494 [DAT](INFO): Rx dataTimestamp_ set to:1758326701.493422
2025-09-20T00:05:01.494Z,1758326701.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239725
2025-09-20T00:05:01.531Z,1758326701.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:05:01.534Z,1758326701.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 76.255859 m,
      bearing: 255.995374 deg,
      approach rate: -0.476629 m/s,
      LOS rate: -0.038699 deg/s,
      cmd heading: 243.062418 deg,
      new cmd heading: 243.032804 deg.

2025-09-20T00:05:01.535Z,1758326701.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241723 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:05:01.745Z,1758326701.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490596
2025-09-20T00:05:01.920Z,1758326701.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T00:05:01.923Z,1758326701.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.688255 m,
      nav range: 76.070633 m,
      bearing: 255.980506 deg,
      approach rate: -0.496116 m/s,
      LOS rate: -0.039919 deg/s,
      cmd heading: 243.032802 deg,
      new cmd heading: 243.002994 deg.

2025-09-20T00:05:01.925Z,1758326701.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241202 target range: 79.688255 and range: 79.90 m.
2025-09-20T00:05:02.016Z,1758326702.016 [DAT](INFO): DAT read: 00:05:02.2193 LVL= 32240, 32753, 32754, 32755, AGC= 67, IDX= 424,-0.04, 0.563,-1.452, 0.285, 0.180, PHS= 0.485,-1.588, 0.060, RAW= 138.8,  11.0, CAL= 138.3,  12.0, ROT=  11.7, -12.0

2025-09-20T00:05:02.019Z,1758326702.019 [DAT](INFO): got valid direction response:
 00:05:02.2193 LVL= 32240, 32753, 32754, 32755, AGC= 67, IDX= 424,-0.04, 0.563,-1.452, 0.285, 0.180, PHS= 0.485,-1.588, 0.060, RAW= 138.8,  11.0, CAL= 138.3,  12.0, ROT=  11.7, -12.0

2025-09-20T00:05:02.025Z,1758326702.025 [DAT](INFO): DAT read: Bearing  31.1,  13.0 (Local)

2025-09-20T00:05:02.025Z,1758326702.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.1,  13.0 (Local)

2025-09-20T00:05:02.032Z,1758326702.032 [DAT](INFO): DAT read: Range 11 to 50 : 78.1 m  (Round-trip  104.2 ms) speed  0.8 m/s

2025-09-20T00:05:02.033Z,1758326702.033 [DAT](INFO): DAT read: user:716>

2025-09-20T00:05:02.034Z,1758326702.034 [DAT](INFO): DAT read: Tx time:00:05:03.3109

2025-09-20T00:05:02.035Z,1758326702.035 [DAT](INFO): Ping request sent.
2025-09-20T00:05:02.035Z,1758326702.035 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:02.035Z,1758326702.035 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:02.041Z,1758326702.041 [DAT](INFO): direction in FSK: [0.957824,0.198356,0.207912]
2025-09-20T00:05:02.041Z,1758326702.041 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:02.041Z,1758326702.041 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:02.060Z,1758326702.060 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:02.060Z,1758326702.060 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:02.364Z,1758326702.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.099998 m,
      deltaT: 3.778528 s,
      deltaX: -1.800003 m,
      approachRate: -0.476377 m/s,
      rangeRepo size: 4

2025-09-20T00:05:02.366Z,1758326702.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.892807 m,
      bearing: 255.152575 deg,
      lat: 36.779426 deg,
      lon: -121.859716 deg,
      deltaT: 3.778528 s,
      deltaX: -1.795448 m,
      approachRate: -0.475171 m/s,
      posRepo size: 4

2025-09-20T00:05:02.367Z,1758326702.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.89 m.
2025-09-20T00:05:02.374Z,1758326702.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.892807 m,
      nav range: 75.835892 m,
      bearing: 255.856157 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039919 deg/s,
      cmd heading: 243.002995 deg,
      new cmd heading: 242.967591 deg.

2025-09-20T00:05:02.375Z,1758326702.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240584 target range: 77.892807 and range: 78.10 m.
2025-09-20T00:05:02.715Z,1758326702.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.89 m.
2025-09-20T00:05:02.718Z,1758326702.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.892807 m,
      nav range: 75.643257 m,
      bearing: 255.842970 deg,
      approach rate: -0.524060 m/s,
      LOS rate: -0.035966 deg/s,
      cmd heading: 242.967587 deg,
      new cmd heading: 242.941146 deg.

2025-09-20T00:05:02.719Z,1758326702.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240123 target range: 77.892807 and range: 78.10 m.
2025-09-20T00:05:03.193Z,1758326703.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:03.195Z,1758326703.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.89 m.
2025-09-20T00:05:03.202Z,1758326703.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.892807 m,
      nav range: 75.402344 m,
      bearing: 255.821972 deg,
      approach rate: -0.502303 m/s,
      LOS rate: -0.043922 deg/s,
      cmd heading: 242.941141 deg,
      new cmd heading: 242.899010 deg.

2025-09-20T00:05:03.205Z,1758326703.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.239388 target range: 77.892807 and range: 78.10 m.
2025-09-20T00:05:03.258Z,1758326703.258 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:03.258Z,1758326703.258 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:03.258Z,1758326703.258 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:03.510Z,1758326703.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475305
2025-09-20T00:05:03.555Z,1758326703.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.89 m.
2025-09-20T00:05:03.558Z,1758326703.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.892807 m,
      nav range: 75.206635 m,
      bearing: 255.804961 deg,
      approach rate: -0.543181 m/s,
      LOS rate: -0.047334 deg/s,
      cmd heading: 242.899012 deg,
      new cmd heading: 242.864903 deg.

2025-09-20T00:05:03.559Z,1758326703.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238792 target range: 77.892807 and range: 78.10 m.
2025-09-20T00:05:03.761Z,1758326703.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726666
2025-09-20T00:05:03.931Z,1758326703.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.89 m.
2025-09-20T00:05:03.934Z,1758326703.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.892807 m,
      nav range: 75.011063 m,
      bearing: 255.787959 deg,
      approach rate: -0.519915 m/s,
      LOS rate: -0.045319 deg/s,
      cmd heading: 242.864916 deg,
      new cmd heading: 242.830822 deg.

2025-09-20T00:05:03.935Z,1758326703.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238197 target range: 77.892807 and range: 78.10 m.
2025-09-20T00:05:04.014Z,1758326704.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979014
2025-09-20T00:05:04.265Z,1758326704.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230151
2025-09-20T00:05:04.364Z,1758326704.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.89 m.
2025-09-20T00:05:04.367Z,1758326704.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.892807 m,
      nav range: 74.795372 m,
      bearing: 255.782029 deg,
      approach rate: -0.498498 m/s,
      LOS rate: -0.013744 deg/s,
      cmd heading: 242.830820 deg,
      new cmd heading: 242.818926 deg.

2025-09-20T00:05:04.368Z,1758326704.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237990 target range: 77.892807 and range: 78.10 m.
2025-09-20T00:05:04.518Z,1758326704.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483243
2025-09-20T00:05:04.769Z,1758326704.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734216
2025-09-20T00:05:04.772Z,1758326704.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.89 m.
2025-09-20T00:05:04.775Z,1758326704.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.892807 m,
      nav range: 74.604218 m,
      bearing: 255.776808 deg,
      approach rate: -0.493119 m/s,
      LOS rate: -0.013501 deg/s,
      cmd heading: 242.818935 deg,
      new cmd heading: 242.808468 deg.

2025-09-20T00:05:04.780Z,1758326704.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237807 target range: 77.892807 and range: 78.10 m.
2025-09-20T00:05:05.022Z,1758326705.022 [DAT](INFO): DAT read: Rx Time:00:05:05.8166

2025-09-20T00:05:05.023Z,1758326705.023 [DAT](INFO): Rx dataTimestamp_ set to:1758326705.022145
2025-09-20T00:05:05.024Z,1758326705.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989209
2025-09-20T00:05:05.223Z,1758326705.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:05.225Z,1758326705.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.89 m.
2025-09-20T00:05:05.228Z,1758326705.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.892807 m,
      nav range: 74.376144 m,
      bearing: 255.771523 deg,
      approach rate: -0.481268 m/s,
      LOS rate: -0.011188 deg/s,
      cmd heading: 242.808471 deg,
      new cmd heading: 242.797868 deg.

2025-09-20T00:05:05.229Z,1758326705.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237622 target range: 77.892807 and range: 78.10 m.
2025-09-20T00:05:05.273Z,1758326705.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238623
2025-09-20T00:05:05.530Z,1758326705.530 [DAT](INFO): DAT read: 00:05:05.8166 LVL= 28832, 32753, 30322, 32755, AGC= 66, IDX= 414, 0.47,-1.457, 2.899,-1.735,-1.842, PHS= 0.487,-1.497, 0.063, RAW= 138.3,  10.5, CAL= 137.8,  11.5, ROT=  12.2, -11.5

2025-09-20T00:05:05.531Z,1758326705.531 [DAT](INFO): got valid direction response:
 00:05:05.8166 LVL= 28832, 32753, 30322, 32755, AGC= 66, IDX= 414, 0.47,-1.457, 2.899,-1.735,-1.842, PHS= 0.487,-1.497, 0.063, RAW= 138.3,  10.5, CAL= 137.8,  11.5, ROT=  12.2, -11.5

2025-09-20T00:05:05.532Z,1758326705.532 [DAT](INFO): DAT read: Bearing  30.5,  13.0 (Local)

2025-09-20T00:05:05.533Z,1758326705.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.5,  13.0 (Local)

2025-09-20T00:05:05.534Z,1758326705.534 [DAT](INFO): DAT read: Range 11 to 50 : 76.2 m  (Round-trip  101.7 ms) speed  0.4 m/s

2025-09-20T00:05:05.535Z,1758326705.535 [DAT](INFO): DAT read: user:717>

2025-09-20T00:05:05.536Z,1758326705.536 [DAT](INFO): DAT read: Tx time:00:05:06.9108

2025-09-20T00:05:05.536Z,1758326705.536 [DAT](INFO): Ping request sent.
2025-09-20T00:05:05.536Z,1758326705.536 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:05.536Z,1758326705.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:05.537Z,1758326705.537 [DAT](INFO): direction in FSK: [0.957794,0.207082,0.199368]
2025-09-20T00:05:05.538Z,1758326705.538 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:05.538Z,1758326705.538 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:05.541Z,1758326705.541 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:05.541Z,1758326705.541 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:05.626Z,1758326705.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.199997 m,
      deltaT: 3.526337 s,
      deltaX: -1.900002 m,
      approachRate: -0.538803 m/s,
      rangeRepo size: 4

2025-09-20T00:05:05.636Z,1758326705.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.998001 m,
      bearing: 255.415899 deg,
      lat: 36.779425 deg,
      lon: -121.859714 deg,
      deltaT: 3.526337 s,
      deltaX: -1.894806 m,
      approachRate: -0.537330 m/s,
      posRepo size: 4

2025-09-20T00:05:05.637Z,1758326705.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:05.639Z,1758326705.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 74.044640 m,
      bearing: 255.668396 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011188 deg/s,
      cmd heading: 242.797871 deg,
      new cmd heading: 242.788924 deg.

2025-09-20T00:05:05.645Z,1758326705.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237466 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:06.031Z,1758326706.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:06.034Z,1758326706.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 73.852699 m,
      bearing: 255.663606 deg,
      approach rate: -0.473452 m/s,
      LOS rate: -0.011846 deg/s,
      cmd heading: 242.788937 deg,
      new cmd heading: 242.779332 deg.

2025-09-20T00:05:06.035Z,1758326706.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237298 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:06.402Z,1758326706.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:06.409Z,1758326706.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 73.669762 m,
      bearing: 255.664787 deg,
      approach rate: -0.492929 m/s,
      LOS rate: 0.003192 deg/s,
      cmd heading: 242.779320 deg,
      new cmd heading: 242.781689 deg.

2025-09-20T00:05:06.410Z,1758326706.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237340 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:06.801Z,1758326706.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:06.804Z,1758326706.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 73.482880 m,
      bearing: 255.665882 deg,
      approach rate: -0.489115 m/s,
      LOS rate: 0.002873 deg/s,
      cmd heading: 242.781697 deg,
      new cmd heading: 242.783892 deg.

2025-09-20T00:05:06.805Z,1758326706.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237378 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:07.246Z,1758326707.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:07.248Z,1758326707.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:07.251Z,1758326707.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 73.267906 m,
      bearing: 255.665531 deg,
      approach rate: -0.463199 m/s,
      LOS rate: -0.000760 deg/s,
      cmd heading: 242.783883 deg,
      new cmd heading: 242.783177 deg.

2025-09-20T00:05:07.268Z,1758326707.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237366 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:07.289Z,1758326707.289 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:07.289Z,1758326707.289 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:07.289Z,1758326707.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:07.541Z,1758326707.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005096
2025-09-20T00:05:07.610Z,1758326707.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:07.617Z,1758326707.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 73.103668 m,
      bearing: 255.665171 deg,
      approach rate: -0.453918 m/s,
      LOS rate: -0.000996 deg/s,
      cmd heading: 242.783172 deg,
      new cmd heading: 242.782451 deg.

2025-09-20T00:05:07.618Z,1758326707.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237353 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:07.793Z,1758326707.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256636
2025-09-20T00:05:08.002Z,1758326708.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:08.022Z,1758326708.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 72.922043 m,
      bearing: 255.664714 deg,
      approach rate: -0.463192 m/s,
      LOS rate: -0.001167 deg/s,
      cmd heading: 242.782462 deg,
      new cmd heading: 242.781546 deg.

2025-09-20T00:05:08.023Z,1758326708.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237337 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:08.045Z,1758326708.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509069
2025-09-20T00:05:08.298Z,1758326708.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761162
2025-09-20T00:05:08.428Z,1758326708.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:08.430Z,1758326708.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 72.714088 m,
      bearing: 255.661184 deg,
      approach rate: -0.488663 m/s,
      LOS rate: -0.008319 deg/s,
      cmd heading: 242.781533 deg,
      new cmd heading: 242.774452 deg.

2025-09-20T00:05:08.431Z,1758326708.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237214 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:08.549Z,1758326708.549 [DAT](INFO): DAT read: Rx Time:00:05:09.4146

2025-09-20T00:05:08.550Z,1758326708.550 [DAT](INFO): Rx dataTimestamp_ set to:1758326708.549226
2025-09-20T00:05:08.550Z,1758326708.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013852
2025-09-20T00:05:08.801Z,1758326708.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265032
2025-09-20T00:05:08.803Z,1758326708.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m.
2025-09-20T00:05:08.806Z,1758326708.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.998001 m,
      nav range: 72.535423 m,
      bearing: 255.658129 deg,
      approach rate: -0.476039 m/s,
      LOS rate: -0.008160 deg/s,
      cmd heading: 242.774457 deg,
      new cmd heading: 242.768332 deg.

2025-09-20T00:05:08.807Z,1758326708.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237107 target range: 75.998001 and range: 76.20 m.
2025-09-20T00:05:09.059Z,1758326709.059 [DAT](INFO): DAT read: 00:05:09.4146 LVL= 26288, 32753, 30706, 32755, AGC= 65, IDX= 425, 0.32, 2.874, 0.958, 2.597, 2.474, PHS= 0.502,-1.471, 0.080, RAW= 138.3,   9.9, CAL= 137.8,  10.9, ROT=  12.2, -10.9

2025-09-20T00:05:09.060Z,1758326709.060 [DAT](INFO): got valid direction response:
 00:05:09.4146 LVL= 26288, 32753, 30706, 32755, AGC= 65, IDX= 425, 0.32, 2.874, 0.958, 2.597, 2.474, PHS= 0.502,-1.471, 0.080, RAW= 138.3,   9.9, CAL= 137.8,  10.9, ROT=  12.2, -10.9

2025-09-20T00:05:09.061Z,1758326709.061 [DAT](INFO): DAT read: Bearing  29.9,  13.1 (Local)

2025-09-20T00:05:09.061Z,1758326709.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.9,  13.1 (Local)

2025-09-20T00:05:09.062Z,1758326709.062 [DAT](INFO): DAT read: Range 11 to 50 : 74.7 m  (Round-trip  99.7 ms) speed  0.4 m/s

2025-09-20T00:05:09.063Z,1758326709.063 [DAT](INFO): DAT read: user:718>

2025-09-20T00:05:09.064Z,1758326709.064 [DAT](INFO): DAT read: Tx time:00:05:10.5108

2025-09-20T00:05:09.064Z,1758326709.064 [DAT](INFO): Ping request sent.
2025-09-20T00:05:09.064Z,1758326709.064 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:09.065Z,1758326709.065 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:09.066Z,1758326709.066 [DAT](INFO): direction in FSK: [0.959782,0.207512,0.189095]
2025-09-20T00:05:09.066Z,1758326709.066 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:09.066Z,1758326709.066 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:09.074Z,1758326709.074 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:09.075Z,1758326709.075 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:09.337Z,1758326709.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.699997 m,
      deltaT: 3.528195 s,
      deltaX: -1.500000 m,
      approachRate: -0.425147 m/s,
      rangeRepo size: 4

2025-09-20T00:05:09.339Z,1758326709.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.502083 m,
      bearing: 255.640592 deg,
      lat: 36.779424 deg,
      lon: -121.859714 deg,
      deltaT: 3.528195 s,
      deltaX: -1.495918 m,
      approachRate: -0.423990 m/s,
      posRepo size: 4

2025-09-20T00:05:09.344Z,1758326709.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.50 m.
2025-09-20T00:05:09.350Z,1758326709.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.502083 m,
      nav range: 72.323982 m,
      bearing: 255.532736 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008160 deg/s,
      cmd heading: 242.768337 deg,
      new cmd heading: 242.759625 deg.

2025-09-20T00:05:09.351Z,1758326709.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.236955 target range: 74.502083 and range: 74.70 m.
2025-09-20T00:05:09.698Z,1758326709.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:09.700Z,1758326709.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.50 m.
2025-09-20T00:05:09.703Z,1758326709.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.502083 m,
      nav range: 72.133430 m,
      bearing: 255.530602 deg,
      approach rate: -0.524783 m/s,
      LOS rate: -0.005892 deg/s,
      cmd heading: 242.759622 deg,
      new cmd heading: 242.755343 deg.

2025-09-20T00:05:09.720Z,1758326709.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.236880 target range: 74.502083 and range: 74.70 m.
2025-09-20T00:05:09.809Z,1758326709.809 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:09.810Z,1758326709.810 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:09.810Z,1758326709.810 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:10.063Z,1758326710.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998411
2025-09-20T00:05:10.113Z,1758326710.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.50 m.
2025-09-20T00:05:10.116Z,1758326710.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.502083 m,
      nav range: 71.930191 m,
      bearing: 255.528393 deg,
      approach rate: -0.491898 m/s,
      LOS rate: -0.005362 deg/s,
      cmd heading: 242.755332 deg,
      new cmd heading: 242.750901 deg.

2025-09-20T00:05:10.117Z,1758326710.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.236803 target range: 74.502083 and range: 74.70 m.
2025-09-20T00:05:10.313Z,1758326710.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249040
2025-09-20T00:05:10.554Z,1758326710.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.50 m.
2025-09-20T00:05:10.561Z,1758326710.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.502083 m,
      nav range: 71.705597 m,
      bearing: 255.513440 deg,
      approach rate: -0.509001 m/s,
      LOS rate: -0.033995 deg/s,
      cmd heading: 242.750906 deg,
      new cmd heading: 242.720907 deg.

2025-09-20T00:05:10.562Z,1758326710.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.236279 target range: 74.502083 and range: 74.70 m.
2025-09-20T00:05:10.565Z,1758326710.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500648
2025-09-20T00:05:10.817Z,1758326710.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752594
2025-09-20T00:05:10.925Z,1758326710.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.50 m.
2025-09-20T00:05:10.927Z,1758326710.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.502083 m,
      nav range: 71.515358 m,
      bearing: 255.500772 deg,
      approach rate: -0.513673 m/s,
      LOS rate: -0.034297 deg/s,
      cmd heading: 242.720908 deg,
      new cmd heading: 242.695504 deg.

2025-09-20T00:05:10.932Z,1758326710.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.235836 target range: 74.502083 and range: 74.70 m.
2025-09-20T00:05:11.069Z,1758326711.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004507
2025-09-20T00:05:11.321Z,1758326711.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256730
2025-09-20T00:05:11.338Z,1758326711.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.50 m.
2025-09-20T00:05:11.341Z,1758326711.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.502083 m,
      nav range: 71.288071 m,
      bearing: 255.484954 deg,
      approach rate: -0.549597 m/s,
      LOS rate: -0.038370 deg/s,
      cmd heading: 242.695500 deg,
      new cmd heading: 242.663764 deg.

2025-09-20T00:05:11.342Z,1758326711.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.235281 target range: 74.502083 and range: 74.70 m.
2025-09-20T00:05:11.573Z,1758326711.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508500
2025-09-20T00:05:11.731Z,1758326711.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:11.735Z,1758326711.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.50 m.
2025-09-20T00:05:11.740Z,1758326711.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.502083 m,
      nav range: 71.076981 m,
      bearing: 255.470438 deg,
      approach rate: -0.531689 m/s,
      LOS rate: -0.036671 deg/s,
      cmd heading: 242.663753 deg,
      new cmd heading: 242.634635 deg.

2025-09-20T00:05:11.742Z,1758326711.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234773 target range: 74.502083 and range: 74.70 m.
2025-09-20T00:05:11.826Z,1758326711.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761324
2025-09-20T00:05:12.077Z,1758326712.077 [DAT](INFO): DAT read: Rx Time:00:05:13.0120

2025-09-20T00:05:12.077Z,1758326712.077 [DAT](INFO): Rx dataTimestamp_ set to:1758326712.077151
2025-09-20T00:05:12.078Z,1758326712.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013586
2025-09-20T00:05:12.151Z,1758326712.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.50 m.
2025-09-20T00:05:12.174Z,1758326712.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.502083 m,
      nav range: 70.856255 m,
      bearing: 255.455395 deg,
      approach rate: -0.530742 m/s,
      LOS rate: -0.036286 deg/s,
      cmd heading: 242.634629 deg,
      new cmd heading: 242.604448 deg.

2025-09-20T00:05:12.175Z,1758326712.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234246 target range: 74.502083 and range: 74.70 m.
2025-09-20T00:05:12.329Z,1758326712.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264572
2025-09-20T00:05:12.626Z,1758326712.626 [DAT](INFO): DAT read: 00:05:13.0120 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.41,-1.230, 3.119,-1.496,-1.620, PHS= 0.491,-1.499, 0.080, RAW= 138.7,  10.2, CAL= 138.2,  11.2, ROT=  11.8, -11.2

2025-09-20T00:05:12.627Z,1758326712.627 [DAT](INFO): got valid direction response:
 00:05:13.0120 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.41,-1.230, 3.119,-1.496,-1.620, PHS= 0.491,-1.499, 0.080, RAW= 138.7,  10.2, CAL= 138.2,  11.2, ROT=  11.8, -11.2

2025-09-20T00:05:12.628Z,1758326712.628 [DAT](INFO): DAT read: Bearing  30.0,  12.7 (Local)

2025-09-20T00:05:12.628Z,1758326712.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.0,  12.7 (Local)

2025-09-20T00:05:12.630Z,1758326712.630 [DAT](INFO): DAT read: Range 11 to 50 : 72.7 m  (Round-trip  97.0 ms) speed  0.5 m/s

2025-09-20T00:05:12.631Z,1758326712.631 [DAT](INFO): DAT read: user:719>

2025-09-20T00:05:12.631Z,1758326712.631 [DAT](INFO): DAT read: Tx time:00:05:14.1108

2025-09-20T00:05:12.644Z,1758326712.644 [DAT](INFO): Ping request sent.
2025-09-20T00:05:12.644Z,1758326712.644 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:12.644Z,1758326712.644 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:12.645Z,1758326712.645 [DAT](INFO): direction in FSK: [0.960225,0.200601,0.194234]
2025-09-20T00:05:12.645Z,1758326712.645 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:12.646Z,1758326712.646 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:12.657Z,1758326712.657 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:12.657Z,1758326712.657 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:12.718Z,1758326712.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.699997 m,
      deltaT: 3.540786 s,
      deltaX: -2.000000 m,
      approachRate: -0.564846 m/s,
      rangeRepo size: 4

2025-09-20T00:05:12.741Z,1758326712.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.507271 m,
      bearing: 254.899628 deg,
      lat: 36.779422 deg,
      lon: -121.859715 deg,
      deltaT: 3.540786 s,
      deltaX: -1.994812 m,
      approachRate: -0.563381 m/s,
      posRepo size: 4

2025-09-20T00:05:12.742Z,1758326712.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:12.755Z,1758326712.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 70.667015 m,
      bearing: 255.313074 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036286 deg/s,
      cmd heading: 242.604440 deg,
      new cmd heading: 242.563334 deg.

2025-09-20T00:05:12.763Z,1758326712.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.233529 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:13.123Z,1758326713.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:13.126Z,1758326713.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 70.427162 m,
      bearing: 255.301165 deg,
      approach rate: -0.591720 m/s,
      LOS rate: -0.029480 deg/s,
      cmd heading: 242.563322 deg,
      new cmd heading: 242.539423 deg.

2025-09-20T00:05:13.127Z,1758326713.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.233111 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:13.562Z,1758326713.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:13.565Z,1758326713.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 70.200775 m,
      bearing: 255.284765 deg,
      approach rate: -0.515660 m/s,
      LOS rate: -0.037477 deg/s,
      cmd heading: 242.539416 deg,
      new cmd heading: 242.506510 deg.

2025-09-20T00:05:13.566Z,1758326713.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232537 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:13.928Z,1758326713.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:13.930Z,1758326713.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:13.933Z,1758326713.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 70.011116 m,
      bearing: 255.271303 deg,
      approach rate: -0.515188 m/s,
      LOS rate: -0.036666 deg/s,
      cmd heading: 242.506522 deg,
      new cmd heading: 242.479526 deg.

2025-09-20T00:05:13.934Z,1758326713.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232066 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:14.093Z,1758326714.093 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:14.093Z,1758326714.093 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:14.093Z,1758326714.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:14.345Z,1758326714.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713290
2025-09-20T00:05:14.379Z,1758326714.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:14.382Z,1758326714.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 69.787941 m,
      bearing: 255.261953 deg,
      approach rate: -0.497159 m/s,
      LOS rate: -0.020894 deg/s,
      cmd heading: 242.479529 deg,
      new cmd heading: 242.460771 deg.

2025-09-20T00:05:14.383Z,1758326714.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231739 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:14.597Z,1758326714.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965674
2025-09-20T00:05:14.729Z,1758326714.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:14.753Z,1758326714.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 69.615753 m,
      bearing: 255.254770 deg,
      approach rate: -0.493458 m/s,
      LOS rate: -0.020637 deg/s,
      cmd heading: 242.460760 deg,
      new cmd heading: 242.446357 deg.

2025-09-20T00:05:14.754Z,1758326714.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231487 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:14.850Z,1758326714.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218342
2025-09-20T00:05:15.101Z,1758326715.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469253
2025-09-20T00:05:15.141Z,1758326715.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:15.144Z,1758326715.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 69.409050 m,
      bearing: 255.246152 deg,
      approach rate: -0.499732 m/s,
      LOS rate: -0.020897 deg/s,
      cmd heading: 242.446362 deg,
      new cmd heading: 242.429075 deg.

2025-09-20T00:05:15.145Z,1758326715.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231185 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:15.353Z,1758326715.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721192
2025-09-20T00:05:15.579Z,1758326715.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:15.586Z,1758326715.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 69.210426 m,
      bearing: 255.240869 deg,
      approach rate: -0.453961 m/s,
      LOS rate: -0.012110 deg/s,
      cmd heading: 242.429068 deg,
      new cmd heading: 242.418470 deg.

2025-09-20T00:05:15.587Z,1758326715.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231000 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:15.605Z,1758326715.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973509
2025-09-20T00:05:15.857Z,1758326715.857 [DAT](INFO): DAT read: Rx Time:00:05:16.6094

2025-09-20T00:05:15.857Z,1758326715.857 [DAT](INFO): Rx dataTimestamp_ set to:1758326715.857161
2025-09-20T00:05:15.858Z,1758326715.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226274
2025-09-20T00:05:15.942Z,1758326715.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:15.944Z,1758326715.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.51 m.
2025-09-20T00:05:15.947Z,1758326715.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.507271 m,
      nav range: 69.026871 m,
      bearing: 255.235946 deg,
      approach rate: -0.502819 m/s,
      LOS rate: -0.013520 deg/s,
      cmd heading: 242.418467 deg,
      new cmd heading: 242.408597 deg.

2025-09-20T00:05:15.948Z,1758326715.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230828 target range: 72.507271 and range: 72.70 m.
2025-09-20T00:05:16.109Z,1758326716.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477142
2025-09-20T00:05:16.367Z,1758326716.367 [DAT](INFO): DAT read: 00:05:16.6094 LVL= 32576, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.14,-0.570,-2.518,-0.858,-0.911, PHS= 0.443,-1.562, 0.010, RAW= 138.1,  12.1, CAL= 137.5,  13.1, ROT=  12.5, -13.1

2025-09-20T00:05:16.368Z,1758326716.368 [DAT](INFO): got valid direction response:
 00:05:16.6094 LVL= 32576, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.14,-0.570,-2.518,-0.858,-0.911, PHS= 0.443,-1.562, 0.010, RAW= 138.1,  12.1, CAL= 137.5,  13.1, ROT=  12.5, -13.1

2025-09-20T00:05:16.369Z,1758326716.369 [DAT](INFO): DAT read: Bearing  31.6,  13.1 (Local)

2025-09-20T00:05:16.369Z,1758326716.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.6,  13.1 (Local)

2025-09-20T00:05:16.371Z,1758326716.371 [DAT](INFO): DAT read: Range 11 to 50 : 70.8 m  (Round-trip  94.5 ms) speed  0.3 m/s

2025-09-20T00:05:16.371Z,1758326716.371 [DAT](INFO): DAT read: user:720>

2025-09-20T00:05:16.372Z,1758326716.372 [DAT](INFO): DAT read: Tx time:00:05:17.7108

2025-09-20T00:05:16.372Z,1758326716.372 [DAT](INFO): Ping request sent.
2025-09-20T00:05:16.372Z,1758326716.372 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:16.373Z,1758326716.373 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:16.374Z,1758326716.374 [DAT](INFO): direction in FSK: [0.950889,0.210807,0.226651]
2025-09-20T00:05:16.374Z,1758326716.374 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:16.374Z,1758326716.374 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:16.406Z,1758326716.406 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:16.406Z,1758326716.406 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:16.553Z,1758326716.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.800003 m,
      deltaT: 3.767300 s,
      deltaX: -1.899994 m,
      approachRate: -0.504338 m/s,
      rangeRepo size: 4

2025-09-20T00:05:16.555Z,1758326716.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.612320 m,
      bearing: 255.377953 deg,
      lat: 36.779422 deg,
      lon: -121.859714 deg,
      deltaT: 3.767300 s,
      deltaX: -1.894951 m,
      approachRate: -0.503000 m/s,
      posRepo size: 4

2025-09-20T00:05:16.555Z,1758326716.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:16.562Z,1758326716.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 68.726051 m,
      bearing: 255.224681 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013520 deg/s,
      cmd heading: 242.408605 deg,
      new cmd heading: 242.392275 deg.

2025-09-20T00:05:16.563Z,1758326716.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230543 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:16.967Z,1758326716.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:16.973Z,1758326716.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 68.522919 m,
      bearing: 255.223873 deg,
      approach rate: -0.484985 m/s,
      LOS rate: -0.001935 deg/s,
      cmd heading: 242.392267 deg,
      new cmd heading: 242.390646 deg.

2025-09-20T00:05:16.975Z,1758326716.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230515 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:17.394Z,1758326717.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:17.413Z,1758326717.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 68.334930 m,
      bearing: 255.224045 deg,
      approach rate: -0.439779 m/s,
      LOS rate: 0.000405 deg/s,
      cmd heading: 242.390655 deg,
      new cmd heading: 242.391001 deg.

2025-09-20T00:05:17.414Z,1758326717.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230521 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:17.762Z,1758326717.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:17.785Z,1758326717.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 68.174690 m,
      bearing: 255.224100 deg,
      approach rate: -0.435382 m/s,
      LOS rate: 0.000149 deg/s,
      cmd heading: 242.391010 deg,
      new cmd heading: 242.391120 deg.

2025-09-20T00:05:17.786Z,1758326717.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230523 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:18.161Z,1758326718.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:18.163Z,1758326718.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:18.166Z,1758326718.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 67.996994 m,
      bearing: 255.224083 deg,
      approach rate: -0.443306 m/s,
      LOS rate: -0.000044 deg/s,
      cmd heading: 242.391119 deg,
      new cmd heading: 242.391084 deg.

2025-09-20T00:05:18.167Z,1758326718.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230523 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:18.381Z,1758326718.381 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:18.381Z,1758326718.381 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:18.382Z,1758326718.382 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:18.593Z,1758326718.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:18.595Z,1758326718.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 67.802711 m,
      bearing: 255.221155 deg,
      approach rate: -0.470927 m/s,
      LOS rate: -0.007117 deg/s,
      cmd heading: 242.391092 deg,
      new cmd heading: 242.385220 deg.

2025-09-20T00:05:18.600Z,1758326718.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230420 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:18.633Z,1758326718.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260608
2025-09-20T00:05:18.886Z,1758326718.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513469
2025-09-20T00:05:19.035Z,1758326719.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:19.038Z,1758326719.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 67.586411 m,
      bearing: 255.217782 deg,
      approach rate: -0.470778 m/s,
      LOS rate: -0.007366 deg/s,
      cmd heading: 242.385218 deg,
      new cmd heading: 242.378449 deg.

2025-09-20T00:05:19.039Z,1758326719.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230302 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:19.137Z,1758326719.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764508
2025-09-20T00:05:19.389Z,1758326719.389 [DAT](INFO): DAT read: Rx Time:00:05:20.2076

2025-09-20T00:05:19.390Z,1758326719.390 [DAT](INFO): Rx dataTimestamp_ set to:1758326719.389437
2025-09-20T00:05:19.390Z,1758326719.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017798
2025-09-20T00:05:19.498Z,1758326719.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:19.505Z,1758326719.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 67.369141 m,
      bearing: 255.211800 deg,
      approach rate: -0.469306 m/s,
      LOS rate: -0.012962 deg/s,
      cmd heading: 242.378442 deg,
      new cmd heading: 242.366440 deg.

2025-09-20T00:05:19.506Z,1758326719.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230093 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:19.641Z,1758326719.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268457
2025-09-20T00:05:19.868Z,1758326719.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-09-20T00:05:19.871Z,1758326719.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612320 m,
      nav range: 67.173492 m,
      bearing: 255.206321 deg,
      approach rate: -0.529341 m/s,
      LOS rate: -0.014868 deg/s,
      cmd heading: 242.366449 deg,
      new cmd heading: 242.355458 deg.

2025-09-20T00:05:19.871Z,1758326719.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229901 target range: 70.612320 and range: 70.80 m.
2025-09-20T00:05:19.898Z,1758326719.898 [DAT](INFO): DAT read: 00:05:20.2076 LVL= 28976, 32753, 32498, 32755, AGC= 65, IDX= 417, 0.26, 2.051, 0.150, 1.772, 1.670, PHS= 0.483,-1.475, 0.058, RAW= 138.1,  10.5, CAL= 137.6,  11.5, ROT=  12.4, -11.5

2025-09-20T00:05:19.899Z,1758326719.899 [DAT](INFO): got valid direction response:
 00:05:20.2076 LVL= 28976, 32753, 32498, 32755, AGC= 65, IDX= 417, 0.26, 2.051, 0.150, 1.772, 1.670, PHS= 0.483,-1.475, 0.058, RAW= 138.1,  10.5, CAL= 137.6,  11.5, ROT=  12.4, -11.5

2025-09-20T00:05:19.901Z,1758326719.901 [DAT](INFO): DAT read: Bearing  30.0,  13.2 (Local)

2025-09-20T00:05:19.901Z,1758326719.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.0,  13.2 (Local)

2025-09-20T00:05:19.902Z,1758326719.902 [DAT](INFO): DAT read: Range 11 to 50 : 69.4 m  (Round-trip  92.6 ms) speed  0.4 m/s

2025-09-20T00:05:19.903Z,1758326719.903 [DAT](INFO): DAT read: user:721>

2025-09-20T00:05:19.904Z,1758326719.904 [DAT](INFO): DAT read: Tx time:00:05:21.3108

2025-09-20T00:05:19.904Z,1758326719.904 [DAT](INFO): Ping request sent.
2025-09-20T00:05:19.904Z,1758326719.904 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:19.904Z,1758326719.904 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:19.905Z,1758326719.905 [DAT](INFO): direction in FSK: [0.957065,0.210424,0.199368]
2025-09-20T00:05:19.906Z,1758326719.906 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:19.906Z,1758326719.906 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:19.909Z,1758326719.909 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:19.909Z,1758326719.909 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:20.263Z,1758326720.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.400002 m,
      deltaT: 3.531797 s,
      deltaX: -1.400002 m,
      approachRate: -0.396399 m/s,
      rangeRepo size: 4

2025-09-20T00:05:20.265Z,1758326720.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.216011 m,
      bearing: 255.468848 deg,
      lat: 36.779424 deg,
      lon: -121.859715 deg,
      deltaT: 3.531797 s,
      deltaX: -1.396309 m,
      approachRate: -0.395354 m/s,
      posRepo size: 4

2025-09-20T00:05:20.265Z,1758326720.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:20.268Z,1758326720.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 66.987755 m,
      bearing: 255.345167 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014868 deg/s,
      cmd heading: 242.355466 deg,
      new cmd heading: 242.343744 deg.

2025-09-20T00:05:20.269Z,1758326720.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229696 target range: 69.216011 and range: 69.40 m.
2025-09-20T00:05:20.695Z,1758326720.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:20.701Z,1758326720.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:20.709Z,1758326720.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 66.779320 m,
      bearing: 255.332583 deg,
      approach rate: -0.474375 m/s,
      LOS rate: -0.028729 deg/s,
      cmd heading: 242.343745 deg,
      new cmd heading: 242.318499 deg.

2025-09-20T00:05:20.710Z,1758326720.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229256 target range: 69.216011 and range: 69.40 m.
2025-09-20T00:05:20.901Z,1758326720.901 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:20.901Z,1758326720.901 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:20.901Z,1758326720.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:21.058Z,1758326721.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:21.061Z,1758326721.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 66.586212 m,
      bearing: 255.320855 deg,
      approach rate: -0.541866 m/s,
      LOS rate: -0.033007 deg/s,
      cmd heading: 242.318501 deg,
      new cmd heading: 242.294975 deg.

2025-09-20T00:05:21.061Z,1758326721.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228845 target range: 69.216011 and range: 69.40 m.
2025-09-20T00:05:21.153Z,1758326721.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248851
2025-09-20T00:05:21.406Z,1758326721.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501993
2025-09-20T00:05:21.534Z,1758326721.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:21.541Z,1758326721.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 66.336044 m,
      bearing: 255.300990 deg,
      approach rate: -0.525514 m/s,
      LOS rate: -0.041887 deg/s,
      cmd heading: 242.294978 deg,
      new cmd heading: 242.255098 deg.

2025-09-20T00:05:21.542Z,1758326721.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228149 target range: 69.216011 and range: 69.40 m.
2025-09-20T00:05:21.657Z,1758326721.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752659
2025-09-20T00:05:21.846Z,1758326721.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:21.865Z,1758326721.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 66.164551 m,
      bearing: 255.287463 deg,
      approach rate: -0.548637 m/s,
      LOS rate: -0.043385 deg/s,
      cmd heading: 242.255089 deg,
      new cmd heading: 242.227967 deg.

2025-09-20T00:05:21.866Z,1758326721.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227675 target range: 69.216011 and range: 69.40 m.
2025-09-20T00:05:21.909Z,1758326721.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004938
2025-09-20T00:05:22.161Z,1758326722.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256694
2025-09-20T00:05:22.271Z,1758326722.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:22.273Z,1758326722.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 65.945290 m,
      bearing: 255.270271 deg,
      approach rate: -0.516819 m/s,
      LOS rate: -0.040660 deg/s,
      cmd heading: 242.227960 deg,
      new cmd heading: 242.193460 deg.

2025-09-20T00:05:22.274Z,1758326722.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227073 target range: 69.216011 and range: 69.40 m.
2025-09-20T00:05:22.416Z,1758326722.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510995
2025-09-20T00:05:22.424Z,1758326722.424 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-09-20T00:05:22.665Z,1758326722.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760868
2025-09-20T00:05:22.714Z,1758326722.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:22.720Z,1758326722.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:22.728Z,1758326722.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 65.707001 m,
      bearing: 255.251944 deg,
      approach rate: -0.535098 m/s,
      LOS rate: -0.041303 deg/s,
      cmd heading: 242.193454 deg,
      new cmd heading: 242.156667 deg.

2025-09-20T00:05:22.730Z,1758326722.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226431 target range: 69.216011 and range: 69.40 m.
2025-09-20T00:05:22.917Z,1758326722.917 [DAT](INFO): DAT read: Rx Time:00:05:23.8048

2025-09-20T00:05:22.917Z,1758326722.917 [DAT](INFO): Rx dataTimestamp_ set to:1758326722.917056
2025-09-20T00:05:22.918Z,1758326722.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013739
2025-09-20T00:05:23.056Z,1758326723.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:23.059Z,1758326723.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 65.511169 m,
      bearing: 255.237201 deg,
      approach rate: -0.575592 m/s,
      LOS rate: -0.043463 deg/s,
      cmd heading: 242.156680 deg,
      new cmd heading: 242.127105 deg.

2025-09-20T00:05:23.067Z,1758326723.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225915 target range: 69.216011 and range: 69.40 m.
2025-09-20T00:05:23.170Z,1758326723.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265705
2025-09-20T00:05:23.409Z,1758326723.409 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-20T00:05:23.445Z,1758326723.445 [DAT](INFO): DAT read: 00:05:23.8048 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.37, 0.589,-1.396, 0.321, 0.197, PHS= 0.494,-1.548, 0.080, RAW= 138.9,  10.4, CAL= 138.5,  11.4, ROT=  11.5, -11.4

2025-09-20T00:05:23.447Z,1758326723.447 [DAT](INFO): got valid direction response:
 00:05:23.8048 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.37, 0.589,-1.396, 0.321, 0.197, PHS= 0.494,-1.548, 0.080, RAW= 138.9,  10.4, CAL= 138.5,  11.4, ROT=  11.5, -11.4

2025-09-20T00:05:23.447Z,1758326723.447 [DAT](INFO): DAT read: Bearing  29.7,  12.3 (Local)

2025-09-20T00:05:23.456Z,1758326723.456 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-20T00:05:23.458Z,1758326723.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.7,  12.3 (Local)

2025-09-20T00:05:23.469Z,1758326723.469 [DAT](INFO): DAT read: Range 11 to 50 : 67.4 m  (Round-trip  89.9 ms) speed  0.5 m/s

2025-09-20T00:05:23.471Z,1758326723.471 [DAT](INFO): DAT read: user:722>

2025-09-20T00:05:23.472Z,1758326723.472 [DAT](INFO): DAT read: Tx time:00:05:24.9108

2025-09-20T00:05:23.481Z,1758326723.481 [DAT](INFO): Ping request sent.
2025-09-20T00:05:23.481Z,1758326723.481 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:23.481Z,1758326723.481 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:23.483Z,1758326723.483 [DAT](INFO): direction in FSK: [0.960592,0.195435,0.197657]
2025-09-20T00:05:23.496Z,1758326723.496 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:23.497Z,1758326723.497 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:23.508Z,1758326723.508 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:23.508Z,1758326723.508 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:23.606Z,1758326723.606 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-09-20T00:05:23.613Z,1758326723.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.400002 m,
      deltaT: 3.529947 s,
      deltaX: -2.000000 m,
      approachRate: -0.566581 m/s,
      rangeRepo size: 4

2025-09-20T00:05:23.613Z,1758326723.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:23.620Z,1758326723.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 65.222679 m,
      bearing: 255.214371 deg,
      approach rate: -0.522784 m/s,
      LOS rate: -0.041553 deg/s,
      cmd heading: 242.127092 deg,
      new cmd heading: 242.081231 deg.

2025-09-20T00:05:23.621Z,1758326723.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225114 target range: 69.216011 and range: 67.40 m.
2025-09-20T00:05:23.978Z,1758326723.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:23.998Z,1758326723.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 65.013985 m,
      bearing: 255.197996 deg,
      approach rate: -0.564385 m/s,
      LOS rate: -0.044426 deg/s,
      cmd heading: 242.081220 deg,
      new cmd heading: 242.048365 deg.

2025-09-20T00:05:23.999Z,1758326723.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224541 target range: 69.216011 and range: 67.40 m.
2025-09-20T00:05:24.196Z,1758326724.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:05:24.382Z,1758326724.382 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-20T00:05:24.383Z,1758326724.383 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-20T00:05:24.521Z,1758326724.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:24.523Z,1758326724.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 64.732536 m,
      bearing: 255.180995 deg,
      approach rate: -0.518283 m/s,
      LOS rate: -0.031444 deg/s,
      cmd heading: 242.048353 deg,
      new cmd heading: 242.014203 deg.

2025-09-20T00:05:24.525Z,1758326724.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223945 target range: 69.216011 and range: 67.40 m.
2025-09-20T00:05:24.930Z,1758326724.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:24.933Z,1758326724.933 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:24.933Z,1758326724.933 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:24.933Z,1758326724.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:24.936Z,1758326724.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:24.939Z,1758326724.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 64.521408 m,
      bearing: 255.168563 deg,
      approach rate: -0.508233 m/s,
      LOS rate: -0.030026 deg/s,
      cmd heading: 242.014202 deg,
      new cmd heading: 241.989256 deg.

2025-09-20T00:05:24.940Z,1758326724.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223509 target range: 69.216011 and range: 67.40 m.
2025-09-20T00:05:25.187Z,1758326725.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706785
2025-09-20T00:05:25.200Z,1758326725.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:05:25.329Z,1758326725.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:25.331Z,1758326725.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 64.318466 m,
      bearing: 255.156577 deg,
      approach rate: -0.517221 m/s,
      LOS rate: -0.030643 deg/s,
      cmd heading: 241.989258 deg,
      new cmd heading: 241.965211 deg.

2025-09-20T00:05:25.348Z,1758326725.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223090 target range: 69.216011 and range: 67.40 m.
2025-09-20T00:05:25.389Z,1758326725.389 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-20T00:05:25.390Z,1758326725.390 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-20T00:05:25.442Z,1758326725.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961344
2025-09-20T00:05:25.693Z,1758326725.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212225
2025-09-20T00:05:25.794Z,1758326725.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:25.797Z,1758326725.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 64.091881 m,
      bearing: 255.145880 deg,
      approach rate: -0.487116 m/s,
      LOS rate: -0.023078 deg/s,
      cmd heading: 241.965216 deg,
      new cmd heading: 241.943746 deg.

2025-09-20T00:05:25.798Z,1758326725.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222715 target range: 69.216011 and range: 67.40 m.
2025-09-20T00:05:25.945Z,1758326725.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464299
2025-09-20T00:05:26.146Z,1758326726.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:26.148Z,1758326726.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 63.920525 m,
      bearing: 255.137789 deg,
      approach rate: -0.487001 m/s,
      LOS rate: -0.023057 deg/s,
      cmd heading: 241.943742 deg,
      new cmd heading: 241.927516 deg.

2025-09-20T00:05:26.149Z,1758326726.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222432 target range: 69.216011 and range: 67.40 m.
2025-09-20T00:05:26.197Z,1758326726.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716476
2025-09-20T00:05:26.390Z,1758326726.390 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-20T00:05:26.391Z,1758326726.391 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-20T00:05:26.453Z,1758326726.453 [DAT](INFO): DAT read: Rx Time:00:05:27.4024

2025-09-20T00:05:26.455Z,1758326726.455 [DAT](INFO): Rx dataTimestamp_ set to:1758326726.453572
2025-09-20T00:05:26.458Z,1758326726.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976692
2025-09-20T00:05:26.680Z,1758326726.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:26.682Z,1758326726.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 63.674950 m,
      bearing: 255.134220 deg,
      approach rate: -0.459819 m/s,
      LOS rate: -0.006707 deg/s,
      cmd heading: 241.927513 deg,
      new cmd heading: 241.920349 deg.

2025-09-20T00:05:26.683Z,1758326726.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222307 target range: 69.216011 and range: 67.40 m.
2025-09-20T00:05:26.701Z,1758326726.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220302
2025-09-20T00:05:26.957Z,1758326726.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475976
2025-09-20T00:05:27.211Z,1758326727.211 [DAT](INFO): DAT read: 00:05:27.4023 LVL= 29104, 32753, 32754, 32755, AGC= 66, IDX= 412, 0.04,-1.440, 2.899,-1.716,-1.821, PHS= 0.484,-1.518, 0.061, RAW= 138.5,  10.7, CAL= 137.9,  11.7, ROT=  12.1, -11.7

2025-09-20T00:05:27.212Z,1758326727.212 [DAT](INFO): got valid direction response:
 00:05:27.4023 LVL= 29104, 32753, 32754, 32755, AGC= 66, IDX= 412, 0.04,-1.440, 2.899,-1.716,-1.821, PHS= 0.484,-1.518, 0.061, RAW= 138.5,  10.7, CAL= 137.9,  11.7, ROT=  12.1, -11.7

2025-09-20T00:05:27.213Z,1758326727.213 [DAT](INFO): DAT read: Bearing  29.5,  13.0 (Local)

2025-09-20T00:05:27.214Z,1758326727.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.5,  13.0 (Local)

2025-09-20T00:05:27.215Z,1758326727.215 [DAT](INFO): DAT read: Range 11 to 50 : 65.6 m  (Round-trip  87.5 ms) speed  0.4 m/s

2025-09-20T00:05:27.216Z,1758326727.216 [DAT](INFO): DAT read: user:723>

2025-09-20T00:05:27.217Z,1758326727.217 [DAT](INFO): DAT read: Tx time:00:05:28.5107

2025-09-20T00:05:27.217Z,1758326727.217 [DAT](INFO): Ping request sent.
2025-09-20T00:05:27.217Z,1758326727.217 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:27.217Z,1758326727.217 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:27.218Z,1758326727.218 [DAT](INFO): direction in FSK: [0.957468,0.205263,0.202787]
2025-09-20T00:05:27.218Z,1758326727.218 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:27.219Z,1758326727.219 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:27.222Z,1758326727.222 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:27.222Z,1758326727.222 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:27.372Z,1758326727.372 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-09-20T00:05:27.375Z,1758326727.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.599998 m,
      deltaT: 3.782175 s,
      deltaX: -1.800003 m,
      approachRate: -0.475917 m/s,
      rangeRepo size: 4

2025-09-20T00:05:27.376Z,1758326727.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:27.379Z,1758326727.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 63.359371 m,
      bearing: 255.129621 deg,
      approach rate: -0.454312 m/s,
      LOS rate: -0.006654 deg/s,
      cmd heading: 241.920355 deg,
      new cmd heading: 241.911112 deg.

2025-09-20T00:05:27.380Z,1758326727.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222146 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:27.394Z,1758326727.394 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-20T00:05:27.395Z,1758326727.395 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-20T00:05:27.799Z,1758326727.799 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.002164
CHAN A1 (24V): 0.004783
CHAN A2 (12V): -0.001923
CHAN A3 (5V): -0.001778
CHAN B0 (3.3V): 0.000458
CHAN B1 (3.15aV): 0.000748
CHAN B2 (3.15bV): 0.000716
CHAN B3 (GND): -0.000005
OPEN: 0.005530
Full Scale: +/- 1 mA
2025-09-20T00:05:27.882Z,1758326727.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:27.888Z,1758326727.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:27.891Z,1758326727.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 63.135426 m,
      bearing: 255.128719 deg,
      approach rate: -0.439205 m/s,
      LOS rate: -0.001776 deg/s,
      cmd heading: 241.911121 deg,
      new cmd heading: 241.909310 deg.

2025-09-20T00:05:27.896Z,1758326727.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222114 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:27.962Z,1758326727.962 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:27.962Z,1758326727.962 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:27.963Z,1758326727.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:28.213Z,1758326728.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995764
2025-09-20T00:05:28.270Z,1758326728.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:28.272Z,1758326728.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 62.962341 m,
      bearing: 255.127924 deg,
      approach rate: -0.449081 m/s,
      LOS rate: -0.002069 deg/s,
      cmd heading: 241.909318 deg,
      new cmd heading: 241.907723 deg.

2025-09-20T00:05:28.273Z,1758326728.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222086 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:28.469Z,1758326728.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251048
2025-09-20T00:05:28.706Z,1758326728.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:28.718Z,1758326728.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500898
2025-09-20T00:05:28.727Z,1758326728.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 62.774654 m,
      bearing: 255.125406 deg,
      approach rate: -0.430101 m/s,
      LOS rate: -0.005787 deg/s,
      cmd heading: 241.907733 deg,
      new cmd heading: 241.902682 deg.

2025-09-20T00:05:28.761Z,1758326728.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221998 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:28.971Z,1758326728.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753684
2025-09-20T00:05:29.071Z,1758326729.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:29.073Z,1758326729.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 62.614555 m,
      bearing: 255.123102 deg,
      approach rate: -0.438987 m/s,
      LOS rate: -0.006334 deg/s,
      cmd heading: 241.902679 deg,
      new cmd heading: 241.898059 deg.

2025-09-20T00:05:29.074Z,1758326729.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221918 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:29.221Z,1758326729.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003705
2025-09-20T00:05:29.477Z,1758326729.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259174
2025-09-20T00:05:29.547Z,1758326729.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:29.555Z,1758326729.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 62.410995 m,
      bearing: 255.120120 deg,
      approach rate: -0.426960 m/s,
      LOS rate: -0.006275 deg/s,
      cmd heading: 241.898062 deg,
      new cmd heading: 241.892078 deg.

2025-09-20T00:05:29.560Z,1758326729.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221813 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:29.725Z,1758326729.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508223
2025-09-20T00:05:29.898Z,1758326729.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:29.900Z,1758326729.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:29.903Z,1758326729.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 62.239845 m,
      bearing: 255.116637 deg,
      approach rate: -0.485731 m/s,
      LOS rate: -0.009912 deg/s,
      cmd heading: 241.892078 deg,
      new cmd heading: 241.885093 deg.

2025-09-20T00:05:29.904Z,1758326729.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221691 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:29.978Z,1758326729.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760648
2025-09-20T00:05:30.229Z,1758326730.229 [DAT](INFO): DAT read: Rx Time:00:05:31.0002

2025-09-20T00:05:30.229Z,1758326730.229 [DAT](INFO): Rx dataTimestamp_ set to:1758326730.229164
2025-09-20T00:05:30.230Z,1758326730.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012949
2025-09-20T00:05:30.308Z,1758326730.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:30.311Z,1758326730.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 62.045403 m,
      bearing: 255.112608 deg,
      approach rate: -0.476095 m/s,
      LOS rate: -0.009896 deg/s,
      cmd heading: 241.885084 deg,
      new cmd heading: 241.877001 deg.

2025-09-20T00:05:30.312Z,1758326730.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221550 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:30.484Z,1758326730.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267253
2025-09-20T00:05:30.724Z,1758326730.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m.
2025-09-20T00:05:30.728Z,1758326730.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.216011 m,
      nav range: 61.854412 m,
      bearing: 255.104456 deg,
      approach rate: -0.459787 m/s,
      LOS rate: -0.019684 deg/s,
      cmd heading: 241.876997 deg,
      new cmd heading: 241.860644 deg.

2025-09-20T00:05:30.730Z,1758326730.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221264 target range: 69.216011 and range: 65.60 m.
2025-09-20T00:05:30.757Z,1758326730.757 [DAT](INFO): DAT read: 00:05:31.0002 LVL= 29168, 32753, 31266, 32755, AGC= 64, IDX= 423,-0.14, 2.424, 0.489, 2.148, 2.020, PHS= 0.506,-1.486, 0.084, RAW= 138.4,   9.9, CAL= 138.0,  10.8, ROT=  12.0, -10.8

2025-09-20T00:05:30.758Z,1758326730.758 [DAT](INFO): got valid direction response:
 00:05:31.0002 LVL= 29168, 32753, 31266, 32755, AGC= 64, IDX= 423,-0.14, 2.424, 0.489, 2.148, 2.020, PHS= 0.506,-1.486, 0.084, RAW= 138.4,   9.9, CAL= 138.0,  10.8, ROT=  12.0, -10.8

2025-09-20T00:05:30.759Z,1758326730.759 [DAT](INFO): DAT read: Bearing  28.5,  12.9 (Local)

2025-09-20T00:05:30.760Z,1758326730.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.5,  12.9 (Local)

2025-09-20T00:05:30.769Z,1758326730.769 [DAT](INFO): DAT read: Range 11 to 50 : 64.0 m  (Round-trip  85.4 ms) speed  0.4 m/s

2025-09-20T00:05:30.770Z,1758326730.770 [DAT](INFO): DAT read: user:724>

2025-09-20T00:05:30.771Z,1758326730.771 [DAT](INFO): DAT read: Tx time:00:05:32.1107

2025-09-20T00:05:30.771Z,1758326730.771 [DAT](INFO): Ping request sent.
2025-09-20T00:05:30.771Z,1758326730.771 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:30.771Z,1758326730.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:30.781Z,1758326730.781 [DAT](INFO): direction in FSK: [0.960822,0.204229,0.187381]
2025-09-20T00:05:30.781Z,1758326730.781 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:30.781Z,1758326730.781 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:30.787Z,1758326730.787 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:30.787Z,1758326730.787 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:31.109Z,1758326731.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.000000 m,
      deltaT: 3.528905 s,
      deltaX: -1.599998 m,
      approachRate: -0.453398 m/s,
      rangeRepo size: 4

2025-09-20T00:05:31.111Z,1758326731.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.830452 m,
      bearing: 254.360339 deg,
      lat: 36.779424 deg,
      lon: -121.859720 deg,
      deltaT: 10.841027 s,
      deltaX: -5.385559 m,
      approachRate: -0.496776 m/s,
      posRepo size: 4

2025-09-20T00:05:31.112Z,1758326731.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.83 m.
2025-09-20T00:05:31.115Z,1758326731.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.830452 m,
      nav range: 62.155422 m,
      bearing: 255.214585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019684 deg/s,
      cmd heading: 241.860632 deg,
      new cmd heading: 241.845496 deg.

2025-09-20T00:05:31.116Z,1758326731.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221000 target range: 63.830452 and range: 64.00 m.
2025-09-20T00:05:31.570Z,1758326731.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.83 m.
2025-09-20T00:05:31.572Z,1758326731.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.830452 m,
      nav range: 61.948566 m,
      bearing: 255.206111 deg,
      approach rate: -0.448210 m/s,
      LOS rate: -0.018423 deg/s,
      cmd heading: 241.845496 deg,
      new cmd heading: 241.828492 deg.

2025-09-20T00:05:31.573Z,1758326731.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220704 target range: 63.830452 and range: 64.00 m.
2025-09-20T00:05:31.928Z,1758326731.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:31.930Z,1758326731.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.83 m.
2025-09-20T00:05:31.937Z,1758326731.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.830452 m,
      nav range: 61.771534 m,
      bearing: 255.194198 deg,
      approach rate: -0.491034 m/s,
      LOS rate: -0.033139 deg/s,
      cmd heading: 241.828503 deg,
      new cmd heading: 241.804608 deg.

2025-09-20T00:05:31.938Z,1758326731.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220286 target range: 63.830452 and range: 64.00 m.
2025-09-20T00:05:31.993Z,1758326731.993 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:31.993Z,1758326731.993 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:31.993Z,1758326731.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:32.245Z,1758326732.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473813
2025-09-20T00:05:32.320Z,1758326732.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.83 m.
2025-09-20T00:05:32.323Z,1758326732.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.830452 m,
      nav range: 61.574718 m,
      bearing: 255.180872 deg,
      approach rate: -0.504971 m/s,
      LOS rate: -0.034298 deg/s,
      cmd heading: 241.804597 deg,
      new cmd heading: 241.777861 deg.

2025-09-20T00:05:32.324Z,1758326732.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219820 target range: 63.830452 and range: 64.00 m.
2025-09-20T00:05:32.501Z,1758326732.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729463
2025-09-20T00:05:32.750Z,1758326732.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978215
2025-09-20T00:05:32.753Z,1758326732.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.83 m.
2025-09-20T00:05:32.761Z,1758326732.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.830452 m,
      nav range: 61.371983 m,
      bearing: 255.163421 deg,
      approach rate: -0.468319 m/s,
      LOS rate: -0.040445 deg/s,
      cmd heading: 241.777850 deg,
      new cmd heading: 241.742833 deg.

2025-09-20T00:05:32.762Z,1758326732.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219208 target range: 63.830452 and range: 64.00 m.
2025-09-20T00:05:33.001Z,1758326733.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229801
2025-09-20T00:05:33.118Z,1758326733.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.83 m.
2025-09-20T00:05:33.121Z,1758326733.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.830452 m,
      nav range: 61.169945 m,
      bearing: 255.146056 deg,
      approach rate: -0.552736 m/s,
      LOS rate: -0.047666 deg/s,
      cmd heading: 241.742825 deg,
      new cmd heading: 241.707979 deg.

2025-09-20T00:05:33.122Z,1758326733.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218600 target range: 63.830452 and range: 64.00 m.
2025-09-20T00:05:33.253Z,1758326733.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481844
2025-09-20T00:05:33.509Z,1758326733.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736243
2025-09-20T00:05:33.558Z,1758326733.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.83 m.
2025-09-20T00:05:33.589Z,1758326733.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.830452 m,
      nav range: 60.965042 m,
      bearing: 255.128465 deg,
      approach rate: -0.467071 m/s,
      LOS rate: -0.040233 deg/s,
      cmd heading: 241.707991 deg,
      new cmd heading: 241.672691 deg.

2025-09-20T00:05:33.590Z,1758326733.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217984 target range: 63.830452 and range: 64.00 m.
2025-09-20T00:05:33.758Z,1758326733.758 [DAT](INFO): DAT read: Rx Time:00:05:34.5979

2025-09-20T00:05:33.758Z,1758326733.758 [DAT](INFO): Rx dataTimestamp_ set to:1758326733.758177
2025-09-20T00:05:33.759Z,1758326733.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987881
2025-09-20T00:05:33.950Z,1758326733.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:33.954Z,1758326733.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.83 m.
2025-09-20T00:05:33.958Z,1758326733.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.830452 m,
      nav range: 60.749554 m,
      bearing: 255.111961 deg,
      approach rate: -0.543335 m/s,
      LOS rate: -0.041761 deg/s,
      cmd heading: 241.672693 deg,
      new cmd heading: 241.639568 deg.

2025-09-20T00:05:33.961Z,1758326733.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217406 target range: 63.830452 and range: 64.00 m.
2025-09-20T00:05:34.009Z,1758326734.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238093
2025-09-20T00:05:34.266Z,1758326734.266 [DAT](INFO): DAT read: 00:05:34.5979 LVL= 31600, 32753, 32754, 32755, AGC= 65, IDX= 415, 0.03,-2.110, 2.233,-2.387,-2.499, PHS= 0.491,-1.506, 0.068, RAW= 138.4,  10.4, CAL= 137.9,  11.4, ROT=  12.1, -11.4

2025-09-20T00:05:34.267Z,1758326734.267 [DAT](INFO): got valid direction response:
 00:05:34.5979 LVL= 31600, 32753, 32754, 32755, AGC= 65, IDX= 415, 0.03,-2.110, 2.233,-2.387,-2.499, PHS= 0.491,-1.506, 0.068, RAW= 138.4,  10.4, CAL= 137.9,  11.4, ROT=  12.1, -11.4

2025-09-20T00:05:34.269Z,1758326734.269 [DAT](INFO): DAT read: Bearing  28.7,  12.7 (Local)

2025-09-20T00:05:34.269Z,1758326734.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.7,  12.7 (Local)

2025-09-20T00:05:34.270Z,1758326734.270 [DAT](INFO): DAT read: Range 11 to 50 : 62.3 m  (Round-trip  83.1 ms) speed  0.4 m/s

2025-09-20T00:05:34.271Z,1758326734.271 [DAT](INFO): DAT read: user:725>

2025-09-20T00:05:34.272Z,1758326734.272 [DAT](INFO): DAT read: Tx time:00:05:35.7107

2025-09-20T00:05:34.272Z,1758326734.272 [DAT](INFO): Ping request sent.
2025-09-20T00:05:34.272Z,1758326734.272 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:34.273Z,1758326734.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:34.274Z,1758326734.274 [DAT](INFO): direction in FSK: [0.958493,0.205483,0.197657]
2025-09-20T00:05:34.274Z,1758326734.274 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:34.274Z,1758326734.274 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:34.277Z,1758326734.277 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:34.278Z,1758326734.278 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:34.393Z,1758326734.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.299999 m,
      deltaT: 3.527030 s,
      deltaX: -1.700001 m,
      approachRate: -0.481992 m/s,
      rangeRepo size: 4

2025-09-20T00:05:34.395Z,1758326734.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.134911 m,
      bearing: 254.103816 deg,
      lat: 36.779417 deg,
      lon: -121.859718 deg,
      deltaT: 3.527030 s,
      deltaX: -1.695541 m,
      approachRate: -0.480728 m/s,
      posRepo size: 4

2025-09-20T00:05:34.396Z,1758326734.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:34.402Z,1758326734.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 60.557648 m,
      bearing: 254.426161 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041761 deg/s,
      cmd heading: 241.639580 deg,
      new cmd heading: 241.603288 deg.

2025-09-20T00:05:34.403Z,1758326734.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216773 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:34.787Z,1758326734.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:34.793Z,1758326734.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 60.354000 m,
      bearing: 254.406129 deg,
      approach rate: -0.510930 m/s,
      LOS rate: -0.050429 deg/s,
      cmd heading: 241.603298 deg,
      new cmd heading: 241.563098 deg.

2025-09-20T00:05:34.794Z,1758326734.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216072 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:35.141Z,1758326735.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:35.144Z,1758326735.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 60.182541 m,
      bearing: 254.389217 deg,
      approach rate: -0.483930 m/s,
      LOS rate: -0.047869 deg/s,
      cmd heading: 241.563109 deg,
      new cmd heading: 241.529189 deg.

2025-09-20T00:05:35.145Z,1758326735.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215479 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:35.567Z,1758326735.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:35.590Z,1758326735.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 59.977173 m,
      bearing: 254.368983 deg,
      approach rate: -0.483336 m/s,
      LOS rate: -0.047784 deg/s,
      cmd heading: 241.529177 deg,
      new cmd heading: 241.488570 deg.

2025-09-20T00:05:35.632Z,1758326735.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214771 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:36.021Z,1758326736.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:36.023Z,1758326736.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:36.033Z,1758326736.033 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:36.033Z,1758326736.033 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:36.033Z,1758326736.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:36.054Z,1758326736.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 59.743671 m,
      bearing: 254.354831 deg,
      approach rate: -0.510772 m/s,
      LOS rate: -0.031077 deg/s,
      cmd heading: 241.488578 deg,
      new cmd heading: 241.460164 deg.

2025-09-20T00:05:36.055Z,1758326736.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214275 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:36.285Z,1758326736.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013002
2025-09-20T00:05:36.378Z,1758326736.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:36.381Z,1758326736.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 59.554359 m,
      bearing: 254.343435 deg,
      approach rate: -0.532962 m/s,
      LOS rate: -0.032183 deg/s,
      cmd heading: 241.460165 deg,
      new cmd heading: 241.437301 deg.

2025-09-20T00:05:36.382Z,1758326736.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213876 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:36.537Z,1758326736.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264622
2025-09-20T00:05:36.789Z,1758326736.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516631
2025-09-20T00:05:36.828Z,1758326736.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:36.831Z,1758326736.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 59.327171 m,
      bearing: 254.334605 deg,
      approach rate: -0.505448 m/s,
      LOS rate: -0.019721 deg/s,
      cmd heading: 241.437297 deg,
      new cmd heading: 241.419569 deg.

2025-09-20T00:05:36.832Z,1758326736.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213566 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:37.042Z,1758326737.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769169
2025-09-20T00:05:37.191Z,1758326737.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:37.193Z,1758326737.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 59.143654 m,
      bearing: 254.327540 deg,
      approach rate: -0.505576 m/s,
      LOS rate: -0.019524 deg/s,
      cmd heading: 241.419566 deg,
      new cmd heading: 241.405392 deg.

2025-09-20T00:05:37.194Z,1758326737.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213319 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:37.293Z,1758326737.293 [DAT](INFO): DAT read: Rx Time:00:05:38.1955

2025-09-20T00:05:37.294Z,1758326737.294 [DAT](INFO): Rx dataTimestamp_ set to:1758326737.293800
2025-09-20T00:05:37.295Z,1758326737.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022521
2025-09-20T00:05:37.545Z,1758326737.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272792
2025-09-20T00:05:37.660Z,1758326737.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T00:05:37.663Z,1758326737.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.134911 m,
      nav range: 58.920406 m,
      bearing: 254.319009 deg,
      approach rate: -0.479683 m/s,
      LOS rate: -0.018399 deg/s,
      cmd heading: 241.405386 deg,
      new cmd heading: 241.388260 deg.

2025-09-20T00:05:37.670Z,1758326737.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213020 target range: 62.134911 and range: 62.30 m.
2025-09-20T00:05:37.809Z,1758326737.809 [DAT](INFO): DAT read: 00:05:38.1955 LVL= 26576, 32753, 31202, 32755, AGC= 65, IDX= 423,-0.40, 1.465,-0.429, 1.184, 1.096, PHS= 0.471,-1.480, 0.044, RAW= 138.0,  10.9, CAL= 137.5,  11.9, ROT=  12.5, -11.9

2025-09-20T00:05:37.810Z,1758326737.810 [DAT](INFO): got valid direction response:
 00:05:38.1955 LVL= 26576, 32753, 31202, 32755, AGC= 65, IDX= 423,-0.40, 1.465,-0.429, 1.184, 1.096, PHS= 0.471,-1.480, 0.044, RAW= 138.0,  10.9, CAL= 137.5,  11.9, ROT=  12.5, -11.9

2025-09-20T00:05:37.820Z,1758326737.820 [DAT](INFO): DAT read: Bearing  28.9,  12.8 (Local)

2025-09-20T00:05:37.821Z,1758326737.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.9,  12.8 (Local)

2025-09-20T00:05:37.822Z,1758326737.822 [DAT](INFO): DAT read: Range 11 to 50 : 60.4 m  (Round-trip  80.6 ms) speed  0.4 m/s

2025-09-20T00:05:37.823Z,1758326737.823 [DAT](INFO): DAT read: user:726>

2025-09-20T00:05:37.824Z,1758326737.824 [DAT](INFO): DAT read: Tx time:00:05:39.3107

2025-09-20T00:05:37.824Z,1758326737.824 [DAT](INFO): Ping request sent.
2025-09-20T00:05:37.824Z,1758326737.824 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:37.825Z,1758326737.825 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:37.826Z,1758326737.826 [DAT](INFO): direction in FSK: [0.955314,0.211788,0.206204]
2025-09-20T00:05:37.826Z,1758326737.826 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:37.826Z,1758326737.826 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:37.837Z,1758326737.837 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:37.838Z,1758326737.838 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:38.073Z,1758326738.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.400002 m,
      deltaT: 3.537940 s,
      deltaX: -1.899998 m,
      approachRate: -0.537035 m/s,
      rangeRepo size: 4

2025-09-20T00:05:38.075Z,1758326738.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.239693 m,
      bearing: 254.235137 deg,
      lat: 36.779417 deg,
      lon: -121.859718 deg,
      deltaT: 3.537940 s,
      deltaX: -1.895218 m,
      approachRate: -0.535684 m/s,
      posRepo size: 4

2025-09-20T00:05:38.093Z,1758326738.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:38.095Z,1758326738.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 58.740238 m,
      bearing: 254.235341 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018399 deg/s,
      cmd heading: 241.388256 deg,
      new cmd heading: 241.372932 deg.

2025-09-20T00:05:38.100Z,1758326738.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212752 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:38.493Z,1758326738.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:38.495Z,1758326738.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:38.498Z,1758326738.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 58.541512 m,
      bearing: 254.230856 deg,
      approach rate: -0.470438 m/s,
      LOS rate: -0.010655 deg/s,
      cmd heading: 241.372929 deg,
      new cmd heading: 241.363928 deg.

2025-09-20T00:05:38.499Z,1758326738.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212595 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:38.554Z,1758326738.554 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:38.554Z,1758326738.554 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:38.554Z,1758326738.554 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:38.809Z,1758326738.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984507
2025-09-20T00:05:38.885Z,1758326738.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:38.891Z,1758326738.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 58.350361 m,
      bearing: 254.234141 deg,
      approach rate: -0.489721 m/s,
      LOS rate: 0.008444 deg/s,
      cmd heading: 241.363941 deg,
      new cmd heading: 241.370532 deg.

2025-09-20T00:05:38.894Z,1758326738.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212710 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:39.061Z,1758326739.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236571
2025-09-20T00:05:39.299Z,1758326739.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:39.313Z,1758326739.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488612
2025-09-20T00:05:39.326Z,1758326739.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 58.157455 m,
      bearing: 254.237410 deg,
      approach rate: -0.465863 m/s,
      LOS rate: 0.007922 deg/s,
      cmd heading: 241.370525 deg,
      new cmd heading: 241.377086 deg.

2025-09-20T00:05:39.327Z,1758326739.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212825 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:39.565Z,1758326739.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740533
2025-09-20T00:05:39.743Z,1758326739.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:39.756Z,1758326739.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 57.946457 m,
      bearing: 254.237033 deg,
      approach rate: -0.476144 m/s,
      LOS rate: -0.000853 deg/s,
      cmd heading: 241.377082 deg,
      new cmd heading: 241.376326 deg.

2025-09-20T00:05:39.758Z,1758326739.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212811 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:39.818Z,1758326739.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993524
2025-09-20T00:05:40.069Z,1758326740.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244595
2025-09-20T00:05:40.119Z,1758326740.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:40.122Z,1758326740.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 57.757195 m,
      bearing: 254.236663 deg,
      approach rate: -0.502867 m/s,
      LOS rate: -0.000988 deg/s,
      cmd heading: 241.376317 deg,
      new cmd heading: 241.375574 deg.

2025-09-20T00:05:40.123Z,1758326740.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212799 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:40.322Z,1758326740.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497122
2025-09-20T00:05:40.526Z,1758326740.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:40.529Z,1758326740.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:40.531Z,1758326740.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 57.569153 m,
      bearing: 254.236275 deg,
      approach rate: -0.458845 m/s,
      LOS rate: -0.000951 deg/s,
      cmd heading: 241.375579 deg,
      new cmd heading: 241.374800 deg.

2025-09-20T00:05:40.533Z,1758326740.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212785 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:40.573Z,1758326740.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749029
2025-09-20T00:05:40.825Z,1758326740.825 [DAT](INFO): DAT read: Rx Time:00:05:41.7933

2025-09-20T00:05:40.825Z,1758326740.825 [DAT](INFO): Rx dataTimestamp_ set to:1758326740.825132
2025-09-20T00:05:40.826Z,1758326740.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001584
2025-09-20T00:05:40.965Z,1758326740.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:40.968Z,1758326740.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 57.351795 m,
      bearing: 254.232964 deg,
      approach rate: -0.497897 m/s,
      LOS rate: -0.007612 deg/s,
      cmd heading: 241.374787 deg,
      new cmd heading: 241.368141 deg.

2025-09-20T00:05:40.969Z,1758326740.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212669 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:41.077Z,1758326741.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252844
2025-09-20T00:05:41.329Z,1758326741.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504586
2025-09-20T00:05:41.339Z,1758326741.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.24 m.
2025-09-20T00:05:41.354Z,1758326741.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.239693 m,
      nav range: 57.176540 m,
      bearing: 254.230247 deg,
      approach rate: -0.471091 m/s,
      LOS rate: -0.007327 deg/s,
      cmd heading: 241.368148 deg,
      new cmd heading: 241.362696 deg.

2025-09-20T00:05:41.384Z,1758326741.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212574 target range: 60.239693 and range: 60.40 m.
2025-09-20T00:05:41.587Z,1758326741.587 [DAT](INFO): DAT read: 00:05:41.7933 LVL= 31616, 32753, 32754, 32755, AGC= 64, IDX= 416, 0.16, 3.071, 1.149, 2.791, 2.701, PHS= 0.472,-1.507, 0.045, RAW= 138.2,  11.0, CAL= 137.7,  12.0, ROT=  12.3, -12.0

2025-09-20T00:05:41.588Z,1758326741.588 [DAT](INFO): got valid direction response:
 00:05:41.7933 LVL= 31616, 32753, 32754, 32755, AGC= 64, IDX= 416, 0.16, 3.071, 1.149, 2.791, 2.701, PHS= 0.472,-1.507, 0.045, RAW= 138.2,  11.0, CAL= 137.7,  12.0, ROT=  12.3, -12.0

2025-09-20T00:05:41.589Z,1758326741.589 [DAT](INFO): DAT read: Bearing  29.0,  12.6 (Local)

2025-09-20T00:05:41.589Z,1758326741.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.0,  12.6 (Local)

2025-09-20T00:05:41.591Z,1758326741.591 [DAT](INFO): DAT read: Range 11 to 50 : 58.8 m  (Round-trip  78.5 ms) speed  0.4 m/s

2025-09-20T00:05:41.591Z,1758326741.591 [DAT](INFO): DAT read: user:727>

2025-09-20T00:05:41.592Z,1758326741.592 [DAT](INFO): DAT read: Tx time:00:05:42.9107

2025-09-20T00:05:41.592Z,1758326741.592 [DAT](INFO): Ping request sent.
2025-09-20T00:05:41.593Z,1758326741.593 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:41.593Z,1758326741.593 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:41.594Z,1758326741.594 [DAT](INFO): direction in FSK: [0.955695,0.208375,0.207912]
2025-09-20T00:05:41.594Z,1758326741.594 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:41.594Z,1758326741.594 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:41.610Z,1758326741.610 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:41.610Z,1758326741.610 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:41.882Z,1758326741.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.799999 m,
      deltaT: 3.782037 s,
      deltaX: -1.600002 m,
      approachRate: -0.423053 m/s,
      rangeRepo size: 4

2025-09-20T00:05:41.884Z,1758326741.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.643993 m,
      bearing: 254.061851 deg,
      lat: 36.779415 deg,
      lon: -121.859720 deg,
      deltaT: 3.782037 s,
      deltaX: -1.595699 m,
      approachRate: -0.421915 m/s,
      posRepo size: 4

2025-09-20T00:05:41.888Z,1758326741.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.64 m.
2025-09-20T00:05:41.889Z,1758326741.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-09-20T00:05:41.892Z,1758326741.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.643993 m,
      nav range: 57.118961 m,
      bearing: 254.085732 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007327 deg/s,
      cmd heading: 241.362684 deg,
      new cmd heading: 241.354788 deg.

2025-09-20T00:05:41.897Z,1758326741.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212436 target range: 58.643993 and range: 58.80 m.
2025-09-20T00:05:41.929Z,1758326741.929 [DockingStepper](INFO): Changing to mode: 2
2025-09-20T00:05:42.256Z,1758326742.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.64 m.
2025-09-20T00:05:42.257Z,1758326742.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-09-20T00:05:42.259Z,1758326742.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.643993 m,
      nav range: 56.923187 m,
      bearing: 254.080529 deg,
      approach rate: -0.515314 m/s,
      LOS rate: -0.013743 deg/s,
      cmd heading: 241.354788 deg,
      new cmd heading: 241.344346 deg.

2025-09-20T00:05:42.261Z,1758326742.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212254 target range: 58.643993 and range: 58.80 m.
2025-09-20T00:05:42.650Z,1758326742.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:42.652Z,1758326742.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.64 m.
2025-09-20T00:05:42.654Z,1758326742.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-09-20T00:05:42.660Z,1758326742.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.643993 m,
      nav range: 56.727505 m,
      bearing: 254.075516 deg,
      approach rate: -0.493526 m/s,
      LOS rate: -0.012685 deg/s,
      cmd heading: 241.344352 deg,
      new cmd heading: 241.334292 deg.

2025-09-20T00:05:42.661Z,1758326742.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212078 target range: 58.643993 and range: 58.80 m.
2025-09-20T00:05:42.841Z,1758326742.841 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:42.841Z,1758326742.841 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:42.841Z,1758326742.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:43.077Z,1758326743.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.64 m.
2025-09-20T00:05:43.077Z,1758326743.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-09-20T00:05:43.080Z,1758326743.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.643993 m,
      nav range: 56.521828 m,
      bearing: 254.063135 deg,
      approach rate: -0.485058 m/s,
      LOS rate: -0.029306 deg/s,
      cmd heading: 241.334298 deg,
      new cmd heading: 241.309445 deg.

2025-09-20T00:05:43.081Z,1758326743.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211644 target range: 58.643993 and range: 58.80 m.
2025-09-20T00:05:43.093Z,1758326743.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500195
2025-09-20T00:05:43.345Z,1758326743.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752219
2025-09-20T00:05:43.475Z,1758326743.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.64 m.
2025-09-20T00:05:43.475Z,1758326743.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-09-20T00:05:43.494Z,1758326743.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.643993 m,
      nav range: 56.328629 m,
      bearing: 254.051669 deg,
      approach rate: -0.485097 m/s,
      LOS rate: -0.028888 deg/s,
      cmd heading: 241.309436 deg,
      new cmd heading: 241.286425 deg.

2025-09-20T00:05:43.495Z,1758326743.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211243 target range: 58.643993 and range: 58.80 m.
2025-09-20T00:05:43.597Z,1758326743.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004224
2025-09-20T00:05:43.849Z,1758326743.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256338
2025-09-20T00:05:43.866Z,1758326743.866 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +69 +1019.02,  86,  0.00
2025-09-20T00:05:43.906Z,1758326743.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.64 m.
2025-09-20T00:05:43.906Z,1758326743.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-09-20T00:05:43.909Z,1758326743.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.643993 m,
      nav range: 56.119705 m,
      bearing: 254.039430 deg,
      approach rate: -0.484479 m/s,
      LOS rate: -0.028486 deg/s,
      cmd heading: 241.286432 deg,
      new cmd heading: 241.261863 deg.

2025-09-20T00:05:43.910Z,1758326743.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210814 target range: 58.643993 and range: 58.80 m.
2025-09-20T00:05:44.101Z,1758326744.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508273
2025-09-20T00:05:44.288Z,1758326744.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.64 m.
2025-09-20T00:05:44.289Z,1758326744.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-09-20T00:05:44.291Z,1758326744.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.643993 m,
      nav range: 55.943741 m,
      bearing: 254.029135 deg,
      approach rate: -0.463760 m/s,
      LOS rate: -0.027219 deg/s,
      cmd heading: 241.261870 deg,
      new cmd heading: 241.241215 deg.

2025-09-20T00:05:44.293Z,1758326744.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210454 target range: 58.643993 and range: 58.80 m.
2025-09-20T00:05:44.354Z,1758326744.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761094
2025-09-20T00:05:44.605Z,1758326744.605 [DAT](INFO): DAT read: Rx Time:00:05:45.3909

2025-09-20T00:05:44.606Z,1758326744.606 [DAT](INFO): Rx dataTimestamp_ set to:1758326744.605275
2025-09-20T00:05:44.606Z,1758326744.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013483
2025-09-20T00:05:44.673Z,1758326744.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:44.675Z,1758326744.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.64 m.
2025-09-20T00:05:44.675Z,1758326744.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-09-20T00:05:44.694Z,1758326744.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.643993 m,
      nav range: 55.747082 m,
      bearing: 254.017689 deg,
      approach rate: -0.504929 m/s,
      LOS rate: -0.029492 deg/s,
      cmd heading: 241.241216 deg,
      new cmd heading: 241.218243 deg.

2025-09-20T00:05:44.695Z,1758326744.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210052 target range: 58.643993 and range: 58.80 m.
2025-09-20T00:05:44.857Z,1758326744.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264286
2025-09-20T00:05:45.115Z,1758326745.115 [DAT](INFO): DAT read: 00:05:45.3909 LVL= 26096, 32577, 32754, 32755, AGC= 61, IDX= 424,-0.30,-0.568,-2.501,-0.895,-0.942, PHS= 0.476,-1.514, 0.004, RAW= 136.9,  11.5, CAL= 136.3,  12.5, ROT=  13.7, -12.5

2025-09-20T00:05:45.116Z,1758326745.116 [DAT](INFO): got valid direction response:
 00:05:45.3909 LVL= 26096, 32577, 32754, 32755, AGC= 61, IDX= 424,-0.30,-0.568,-2.501,-0.895,-0.942, PHS= 0.476,-1.514, 0.004, RAW= 136.9,  11.5, CAL= 136.3,  12.5, ROT=  13.7, -12.5

2025-09-20T00:05:45.117Z,1758326745.117 [DAT](INFO): DAT read: Bearing  29.5,  13.7 (Local)

2025-09-20T00:05:45.117Z,1758326745.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.5,  13.7 (Local)

2025-09-20T00:05:45.119Z,1758326745.119 [DAT](INFO): DAT read: Range 11 to 50 : 57.0 m  (Round-trip  76.0 ms) speed  0.4 m/s

2025-09-20T00:05:45.119Z,1758326745.119 [DAT](INFO): DAT read: user:728>

2025-09-20T00:05:45.120Z,1758326745.120 [DAT](INFO): DAT read: Tx time:00:05:46.5107

2025-09-20T00:05:45.120Z,1758326745.120 [DAT](INFO): Ping request sent.
2025-09-20T00:05:45.120Z,1758326745.120 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:45.121Z,1758326745.121 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:45.122Z,1758326745.122 [DAT](INFO): direction in FSK: [0.948520,0.231224,0.216440]
2025-09-20T00:05:45.122Z,1758326745.122 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:45.122Z,1758326745.122 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:45.130Z,1758326745.130 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:45.130Z,1758326745.130 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:45.214Z,1758326745.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 3.528137 s,
      deltaX: -1.799999 m,
      approachRate: -0.510184 m/s,
      rangeRepo size: 4

2025-09-20T00:05:45.220Z,1758326745.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.848858 m,
      bearing: 255.076169 deg,
      lat: 36.779415 deg,
      lon: -121.859720 deg,
      deltaT: 3.528137 s,
      deltaX: -1.795135 m,
      approachRate: -0.508806 m/s,
      posRepo size: 4

2025-09-20T00:05:45.221Z,1758326745.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m.
2025-09-20T00:05:45.221Z,1758326745.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-09-20T00:05:45.228Z,1758326745.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.848858 m,
      nav range: 55.498775 m,
      bearing: 253.997072 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029492 deg/s,
      cmd heading: 241.218239 deg,
      new cmd heading: 241.186490 deg.

2025-09-20T00:05:45.229Z,1758326745.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209498 target range: 56.848858 and range: 57.00 m.
2025-09-20T00:05:45.562Z,1758326745.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m.
2025-09-20T00:05:45.562Z,1758326745.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-09-20T00:05:45.569Z,1758326745.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.848858 m,
      nav range: 55.318382 m,
      bearing: 253.982050 deg,
      approach rate: -0.517273 m/s,
      LOS rate: -0.043218 deg/s,
      cmd heading: 241.186492 deg,
      new cmd heading: 241.156349 deg.

2025-09-20T00:05:45.570Z,1758326745.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208972 target range: 56.848858 and range: 57.00 m.
2025-09-20T00:05:45.986Z,1758326745.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m.
2025-09-20T00:05:45.986Z,1758326745.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-09-20T00:05:45.989Z,1758326745.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.848858 m,
      nav range: 55.115986 m,
      bearing: 253.968389 deg,
      approach rate: -0.477527 m/s,
      LOS rate: -0.032349 deg/s,
      cmd heading: 241.156358 deg,
      new cmd heading: 241.128936 deg.

2025-09-20T00:05:45.990Z,1758326745.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208494 target range: 56.848858 and range: 57.00 m.
2025-09-20T00:05:46.357Z,1758326746.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m.
2025-09-20T00:05:46.357Z,1758326746.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-09-20T00:05:46.360Z,1758326746.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.848858 m,
      nav range: 54.942230 m,
      bearing: 253.956500 deg,
      approach rate: -0.468063 m/s,
      LOS rate: -0.032126 deg/s,
      cmd heading: 241.128928 deg,
      new cmd heading: 241.105076 deg.

2025-09-20T00:05:46.361Z,1758326746.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208077 target range: 56.848858 and range: 57.00 m.
2025-09-20T00:05:46.832Z,1758326746.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:46.834Z,1758326746.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m.
2025-09-20T00:05:46.835Z,1758326746.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-09-20T00:05:46.838Z,1758326746.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.848858 m,
      nav range: 54.721798 m,
      bearing: 253.941121 deg,
      approach rate: -0.461852 m/s,
      LOS rate: -0.032353 deg/s,
      cmd heading: 241.105077 deg,
      new cmd heading: 241.074194 deg.

2025-09-20T00:05:46.839Z,1758326746.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207539 target range: 56.848858 and range: 57.00 m.
2025-09-20T00:05:46.877Z,1758326746.877 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:46.877Z,1758326746.877 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:46.877Z,1758326746.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:47.129Z,1758326747.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008418
2025-09-20T00:05:47.330Z,1758326747.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m.
2025-09-20T00:05:47.330Z,1758326747.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-09-20T00:05:47.339Z,1758326747.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.848858 m,
      nav range: 54.505333 m,
      bearing: 253.925783 deg,
      approach rate: -0.437036 m/s,
      LOS rate: -0.031091 deg/s,
      cmd heading: 241.074204 deg,
      new cmd heading: 241.043405 deg.

2025-09-20T00:05:47.361Z,1758326747.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207001 target range: 56.848858 and range: 57.00 m.
2025-09-20T00:05:47.381Z,1758326747.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260528
2025-09-20T00:05:47.633Z,1758326747.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512833
2025-09-20T00:05:47.799Z,1758326747.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m.
2025-09-20T00:05:47.807Z,1758326747.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-09-20T00:05:47.816Z,1758326747.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.00 m.
2025-09-20T00:05:47.816Z,1758326747.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-09-20T00:05:47.819Z,1758326747.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.848858 m,
      nav range: 54.298073 m,
      bearing: 253.910476 deg,
      approach rate: -0.441294 m/s,
      LOS rate: -0.032714 deg/s,
      cmd heading: 241.043414 deg,
      new cmd heading: 241.012685 deg.

2025-09-20T00:05:47.824Z,1758326747.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206465 target range: 56.848858 and range: 57.00 m.
2025-09-20T00:05:47.860Z,1758326747.860 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-09-20T00:05:47.860Z,1758326747.860 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-09-20T00:05:47.886Z,1758326747.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765420
2025-09-20T00:05:48.137Z,1758326748.137 [DAT](INFO): DAT read: Rx Time:00:05:48.9887

2025-09-20T00:05:48.137Z,1758326748.137 [DAT](INFO): Rx dataTimestamp_ set to:1758326748.137079
2025-09-20T00:05:48.138Z,1758326748.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017494
2025-09-20T00:05:48.334Z,1758326748.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m.
2025-09-20T00:05:48.337Z,1758326748.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.848858 m,
      nav range: 54.036999 m,
      bearing: 253.890510 deg,
      approach rate: -0.488308 m/s,
      LOS rate: -0.037525 deg/s,
      cmd heading: 241.012678 deg,
      new cmd heading: 240.972552 deg.

2025-09-20T00:05:48.338Z,1758326748.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205764 target range: 56.848858 and range: 57.00 m.
2025-09-20T00:05:48.389Z,1758326748.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268645
2025-09-20T00:05:48.647Z,1758326748.647 [DAT](INFO): DAT read: 00:05:48.9887 LVL= 23776, 31393, 29618, 32755, AGC= 64, IDX= 417, 0.43, 2.034, 0.079, 1.799, 1.628, PHS= 0.508,-1.504, 0.128, RAW= 139.8,   9.4, CAL= 139.3,  10.3, ROT=  10.7, -10.3

2025-09-20T00:05:48.649Z,1758326748.649 [DAT](INFO): got valid direction response:
 00:05:48.9887 LVL= 23776, 31393, 29618, 32755, AGC= 64, IDX= 417, 0.43, 2.034, 0.079, 1.799, 1.628, PHS= 0.508,-1.504, 0.128, RAW= 139.8,   9.4, CAL= 139.3,  10.3, ROT=  10.7, -10.3

2025-09-20T00:05:48.650Z,1758326748.650 [DAT](INFO): DAT read: Bearing  27.2,  11.0 (Local)

2025-09-20T00:05:48.650Z,1758326748.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.2,  11.0 (Local)

2025-09-20T00:05:48.653Z,1758326748.653 [DAT](INFO): DAT read: Range 11 to 50 : 55.4 m  (Round-trip  73.9 ms) speed  0.4 m/s

2025-09-20T00:05:48.654Z,1758326748.654 [DAT](INFO): DAT read: user:729>

2025-09-20T00:05:48.655Z,1758326748.655 [DAT](INFO): DAT read: Tx time:00:05:50.1107

2025-09-20T00:05:48.655Z,1758326748.655 [DAT](INFO): Ping request sent.
2025-09-20T00:05:48.655Z,1758326748.655 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:48.659Z,1758326748.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:48.662Z,1758326748.662 [DAT](INFO): direction in FSK: [0.966778,0.182675,0.178802]
2025-09-20T00:05:48.663Z,1758326748.663 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:48.663Z,1758326748.663 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:48.668Z,1758326748.668 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:48.669Z,1758326748.669 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:48.881Z,1758326748.881 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  80.67,  76.59,  78.63
2025-09-20T00:05:48.950Z,1758326748.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.400002 m,
      deltaT: 3.532594 s,
      deltaX: -1.599998 m,
      approachRate: -0.452925 m/s,
      rangeRepo size: 4

2025-09-20T00:05:48.957Z,1758326748.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.252968 m,
      bearing: 252.403197 deg,
      lat: 36.779414 deg,
      lon: -121.859721 deg,
      deltaT: 3.532594 s,
      deltaX: -1.595890 m,
      approachRate: -0.451762 m/s,
      posRepo size: 4

2025-09-20T00:05:48.957Z,1758326748.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.25 m.
2025-09-20T00:05:48.964Z,1758326748.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.252968 m,
      nav range: 53.831120 m,
      bearing: 253.843356 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037525 deg/s,
      cmd heading: 240.972544 deg,
      new cmd heading: 240.926326 deg.

2025-09-20T00:05:48.965Z,1758326748.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204957 target range: 55.252968 and range: 55.40 m.
2025-09-20T00:05:49.288Z,1758326749.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:49.290Z,1758326749.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.25 m.
2025-09-20T00:05:49.309Z,1758326749.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.252968 m,
      nav range: 53.654152 m,
      bearing: 253.828895 deg,
      approach rate: -0.519839 m/s,
      LOS rate: -0.042619 deg/s,
      cmd heading: 240.926317 deg,
      new cmd heading: 240.897300 deg.

2025-09-20T00:05:49.310Z,1758326749.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204451 target range: 55.252968 and range: 55.40 m.
2025-09-20T00:05:49.397Z,1758326749.397 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:49.397Z,1758326749.397 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:49.397Z,1758326749.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:49.649Z,1758326749.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993943
2025-09-20T00:05:49.702Z,1758326749.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.25 m.
2025-09-20T00:05:49.707Z,1758326749.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.252968 m,
      nav range: 53.462929 m,
      bearing: 253.812890 deg,
      approach rate: -0.466799 m/s,
      LOS rate: -0.039211 deg/s,
      cmd heading: 240.897302 deg,
      new cmd heading: 240.865177 deg.

2025-09-20T00:05:49.709Z,1758326749.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203890 target range: 55.252968 and range: 55.40 m.
2025-09-20T00:05:49.901Z,1758326749.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245818
2025-09-20T00:05:50.153Z,1758326750.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497637
2025-09-20T00:05:50.236Z,1758326750.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.25 m.
2025-09-20T00:05:50.239Z,1758326750.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.252968 m,
      nav range: 53.204029 m,
      bearing: 253.792024 deg,
      approach rate: -0.482678 m/s,
      LOS rate: -0.039090 deg/s,
      cmd heading: 240.865173 deg,
      new cmd heading: 240.823239 deg.

2025-09-20T00:05:50.240Z,1758326750.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203158 target range: 55.252968 and range: 55.40 m.
2025-09-20T00:05:50.407Z,1758326750.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751743
2025-09-20T00:05:50.601Z,1758326750.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.25 m.
2025-09-20T00:05:50.604Z,1758326750.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.252968 m,
      nav range: 53.023602 m,
      bearing: 253.776571 deg,
      approach rate: -0.494413 m/s,
      LOS rate: -0.042491 deg/s,
      cmd heading: 240.823236 deg,
      new cmd heading: 240.792223 deg.

2025-09-20T00:05:50.605Z,1758326750.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202617 target range: 55.252968 and range: 55.40 m.
2025-09-20T00:05:50.658Z,1758326750.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002618
2025-09-20T00:05:50.910Z,1758326750.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254801
2025-09-20T00:05:51.017Z,1758326751.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.25 m.
2025-09-20T00:05:51.020Z,1758326751.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.252968 m,
      nav range: 52.823601 m,
      bearing: 253.760265 deg,
      approach rate: -0.480888 m/s,
      LOS rate: -0.039353 deg/s,
      cmd heading: 240.792227 deg,
      new cmd heading: 240.759493 deg.

2025-09-20T00:05:51.021Z,1758326751.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202046 target range: 55.252968 and range: 55.40 m.
2025-09-20T00:05:51.161Z,1758326751.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505684
2025-09-20T00:05:51.401Z,1758326751.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:51.405Z,1758326751.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.25 m.
2025-09-20T00:05:51.411Z,1758326751.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.252968 m,
      nav range: 52.638203 m,
      bearing: 253.744773 deg,
      approach rate: -0.478104 m/s,
      LOS rate: -0.040093 deg/s,
      cmd heading: 240.759496 deg,
      new cmd heading: 240.728402 deg.

2025-09-20T00:05:51.414Z,1758326751.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758808
2025-09-20T00:05:51.416Z,1758326751.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201503 target range: 55.252968 and range: 55.40 m.
2025-09-20T00:05:51.665Z,1758326751.665 [DAT](INFO): DAT read: Rx Time:00:05:52.5862

2025-09-20T00:05:51.665Z,1758326751.665 [DAT](INFO): Rx dataTimestamp_ set to:1758326751.665040
2025-09-20T00:05:51.666Z,1758326751.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010662
2025-09-20T00:05:51.863Z,1758326751.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.25 m.
2025-09-20T00:05:51.870Z,1758326751.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.252968 m,
      nav range: 52.425789 m,
      bearing: 253.726694 deg,
      approach rate: -0.463293 m/s,
      LOS rate: -0.039591 deg/s,
      cmd heading: 240.728405 deg,
      new cmd heading: 240.692102 deg.

2025-09-20T00:05:51.871Z,1758326751.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200870 target range: 55.252968 and range: 55.40 m.
2025-09-20T00:05:51.918Z,1758326751.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262578
2025-09-20T00:05:52.187Z,1758326752.187 [DAT](INFO): DAT read: 00:05:52.5862 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 425,-0.09, 1.958, 0.038, 1.735, 1.605, PHS= 0.455,-1.522, 0.086, RAW= 139.9,  10.8, CAL= 139.3,  11.7, ROT=  10.7, -11.7

2025-09-20T00:05:52.215Z,1758326752.215 [DAT](INFO): got valid direction response:
 00:05:52.5862 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 425,-0.09, 1.958, 0.038, 1.735, 1.605, PHS= 0.455,-1.522, 0.086, RAW= 139.9,  10.8, CAL= 139.3,  11.7, ROT=  10.7, -11.7

2025-09-20T00:05:52.220Z,1758326752.220 [DAT](INFO): DAT read: Bearing  29.2,  10.6 (Local)

2025-09-20T00:05:52.221Z,1758326752.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.2,  10.6 (Local)

2025-09-20T00:05:52.222Z,1758326752.222 [DAT](INFO): DAT read: Range 11 to 50 : 53.5 m  (Round-trip  71.4 ms) speed  0.5 m/s

2025-09-20T00:05:52.223Z,1758326752.223 [DAT](INFO): DAT read: user:730>

2025-09-20T00:05:52.224Z,1758326752.224 [DAT](INFO): DAT read: Tx time:00:05:53.7106

2025-09-20T00:05:52.232Z,1758326752.232 [DAT](INFO): Ping request sent.
2025-09-20T00:05:52.232Z,1758326752.232 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:52.233Z,1758326752.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:52.233Z,1758326752.233 [DAT](INFO): direction in FSK: [0.962197,0.181809,0.202787]
2025-09-20T00:05:52.234Z,1758326752.234 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:52.234Z,1758326752.234 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:52.241Z,1758326752.241 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:52.241Z,1758326752.241 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:52.325Z,1758326752.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.500000 m,
      deltaT: 3.529646 s,
      deltaX: -1.900002 m,
      approachRate: -0.538298 m/s,
      rangeRepo size: 4

2025-09-20T00:05:52.327Z,1758326752.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.358013 m,
      bearing: 252.957319 deg,
      lat: 36.779414 deg,
      lon: -121.859721 deg,
      deltaT: 3.529646 s,
      deltaX: -1.894955 m,
      approachRate: -0.536868 m/s,
      posRepo size: 4

2025-09-20T00:05:52.327Z,1758326752.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:52.334Z,1758326752.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 52.199722 m,
      bearing: 253.705221 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039591 deg/s,
      cmd heading: 240.692096 deg,
      new cmd heading: 240.655964 deg.

2025-09-20T00:05:52.335Z,1758326752.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200239 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:52.677Z,1758326752.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:52.680Z,1758326752.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 52.019390 m,
      bearing: 253.687785 deg,
      approach rate: -0.504464 m/s,
      LOS rate: -0.048943 deg/s,
      cmd heading: 240.655951 deg,
      new cmd heading: 240.620959 deg.

2025-09-20T00:05:52.681Z,1758326752.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199628 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:53.100Z,1758326753.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:53.103Z,1758326753.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 51.810051 m,
      bearing: 253.669903 deg,
      approach rate: -0.495406 m/s,
      LOS rate: -0.042491 deg/s,
      cmd heading: 240.620953 deg,
      new cmd heading: 240.585043 deg.

2025-09-20T00:05:53.104Z,1758326753.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199001 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:53.487Z,1758326753.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:53.489Z,1758326753.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:53.492Z,1758326753.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 51.617695 m,
      bearing: 253.653201 deg,
      approach rate: -0.493440 m/s,
      LOS rate: -0.043003 deg/s,
      cmd heading: 240.585053 deg,
      new cmd heading: 240.551526 deg.

2025-09-20T00:05:53.493Z,1758326753.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198416 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:53.681Z,1758326753.681 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:53.681Z,1758326753.681 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:53.682Z,1758326753.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:53.933Z,1758326753.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700775
2025-09-20T00:05:53.978Z,1758326753.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:53.985Z,1758326753.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 51.386002 m,
      bearing: 253.638556 deg,
      approach rate: -0.474471 m/s,
      LOS rate: -0.030126 deg/s,
      cmd heading: 240.551531 deg,
      new cmd heading: 240.522109 deg.

2025-09-20T00:05:53.986Z,1758326753.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197903 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:54.185Z,1758326754.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952618
2025-09-20T00:05:54.291Z,1758326754.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:54.294Z,1758326754.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 51.231087 m,
      bearing: 253.628518 deg,
      approach rate: -0.494364 m/s,
      LOS rate: -0.032130 deg/s,
      cmd heading: 240.522106 deg,
      new cmd heading: 240.501970 deg.

2025-09-20T00:05:54.295Z,1758326754.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197551 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:54.437Z,1758326754.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204723
2025-09-20T00:05:54.689Z,1758326754.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456765
2025-09-20T00:05:54.699Z,1758326754.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:54.702Z,1758326754.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 51.034554 m,
      bearing: 253.615406 deg,
      approach rate: -0.481463 m/s,
      LOS rate: -0.032246 deg/s,
      cmd heading: 240.501971 deg,
      new cmd heading: 240.475646 deg.

2025-09-20T00:05:54.703Z,1758326754.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197092 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:54.944Z,1758326754.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711555
2025-09-20T00:05:55.134Z,1758326755.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:55.137Z,1758326755.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 50.837402 m,
      bearing: 253.597100 deg,
      approach rate: -0.453571 m/s,
      LOS rate: -0.042279 deg/s,
      cmd heading: 240.475634 deg,
      new cmd heading: 240.438879 deg.

2025-09-20T00:05:55.138Z,1758326755.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196450 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:55.197Z,1758326755.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964917
2025-09-20T00:05:55.326Z,1758326755.326 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:05:55.449Z,1758326755.449 [DAT](INFO): DAT read: Rx Time:00:05:56.1838

2025-09-20T00:05:55.449Z,1758326755.449 [DAT](INFO): Rx dataTimestamp_ set to:1758326755.449081
2025-09-20T00:05:55.450Z,1758326755.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217721
2025-09-20T00:05:55.544Z,1758326755.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:55.546Z,1758326755.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.36 m.
2025-09-20T00:05:55.553Z,1758326755.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.358013 m,
      nav range: 50.652637 m,
      bearing: 253.579607 deg,
      approach rate: -0.448144 m/s,
      LOS rate: -0.042583 deg/s,
      cmd heading: 240.438887 deg,
      new cmd heading: 240.403775 deg.

2025-09-20T00:05:55.554Z,1758326755.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195837 target range: 53.358013 and range: 53.50 m.
2025-09-20T00:05:55.701Z,1758326755.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468874
2025-09-20T00:05:55.959Z,1758326755.959 [DAT](INFO): DAT read: 00:05:56.1838 LVL= 25712, 32753, 26690, 32755, AGC= 65, IDX= 417,-0.32,-0.019,-1.926,-0.257,-0.411, PHS= 0.494,-1.469, 0.111, RAW= 139.4,   9.6, CAL= 138.9,  10.6, ROT=  11.1, -10.6

2025-09-20T00:05:55.960Z,1758326755.960 [DAT](INFO): got valid direction response:
 00:05:56.1838 LVL= 25712, 32753, 26690, 32755, AGC= 65, IDX= 417,-0.32,-0.019,-1.926,-0.257,-0.411, PHS= 0.494,-1.469, 0.111, RAW= 139.4,   9.6, CAL= 138.9,  10.6, ROT=  11.1, -10.6

2025-09-20T00:05:55.961Z,1758326755.961 [DAT](INFO): DAT read: Bearing  28.6,  10.5 (Local)

2025-09-20T00:05:55.961Z,1758326755.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.6,  10.5 (Local)

2025-09-20T00:05:55.963Z,1758326755.963 [DAT](INFO): DAT read: Range 11 to 50 : 51.8 m  (Round-trip  69.1 ms) speed  0.3 m/s

2025-09-20T00:05:55.963Z,1758326755.963 [DAT](INFO): DAT read: user:731>

2025-09-20T00:05:55.964Z,1758326755.964 [DAT](INFO): DAT read: Tx time:00:05:57.3106

2025-09-20T00:05:55.964Z,1758326755.964 [DAT](INFO): Ping request sent.
2025-09-20T00:05:55.965Z,1758326755.965 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:55.965Z,1758326755.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:55.966Z,1758326755.966 [DAT](INFO): direction in FSK: [0.964547,0.189237,0.183951]
2025-09-20T00:05:55.966Z,1758326755.966 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:55.966Z,1758326755.966 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:55.974Z,1758326755.974 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:55.974Z,1758326755.974 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:56.034Z,1758326756.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.799999 m,
      deltaT: 3.781827 s,
      deltaX: -1.700001 m,
      approachRate: -0.449518 m/s,
      rangeRepo size: 4

2025-09-20T00:05:56.044Z,1758326756.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.662575 m,
      bearing: 253.827518 deg,
      lat: 36.779414 deg,
      lon: -121.859721 deg,
      deltaT: 3.781827 s,
      deltaX: -1.695438 m,
      approachRate: -0.448312 m/s,
      posRepo size: 4

2025-09-20T00:05:56.045Z,1758326756.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:56.053Z,1758326756.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 50.466461 m,
      bearing: 253.567367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042583 deg/s,
      cmd heading: 240.403780 deg,
      new cmd heading: 240.362285 deg.

2025-09-20T00:05:56.054Z,1758326756.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195113 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:56.328Z,1758326756.328 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:05:56.374Z,1758326756.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:56.377Z,1758326756.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 50.296497 m,
      bearing: 253.550431 deg,
      approach rate: -0.499069 m/s,
      LOS rate: -0.049896 deg/s,
      cmd heading: 240.362280 deg,
      new cmd heading: 240.328295 deg.

2025-09-20T00:05:56.378Z,1758326756.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194520 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:56.778Z,1758326756.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:56.781Z,1758326756.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 50.111576 m,
      bearing: 253.531729 deg,
      approach rate: -0.458012 m/s,
      LOS rate: -0.046492 deg/s,
      cmd heading: 240.328293 deg,
      new cmd heading: 240.290751 deg.

2025-09-20T00:05:56.782Z,1758326756.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193865 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:57.200Z,1758326757.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:57.203Z,1758326757.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 49.920727 m,
      bearing: 253.510968 deg,
      approach rate: -0.452291 m/s,
      LOS rate: -0.049391 deg/s,
      cmd heading: 240.290754 deg,
      new cmd heading: 240.249072 deg.

2025-09-20T00:05:57.204Z,1758326757.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193137 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:57.582Z,1758326757.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:05:57.584Z,1758326757.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:57.587Z,1758326757.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 49.746365 m,
      bearing: 253.491635 deg,
      approach rate: -0.453243 m/s,
      LOS rate: -0.050429 deg/s,
      cmd heading: 240.249063 deg,
      new cmd heading: 240.210262 deg.

2025-09-20T00:05:57.588Z,1758326757.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192460 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:57.725Z,1758326757.725 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:05:57.725Z,1758326757.725 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:05:57.726Z,1758326757.726 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:05:57.977Z,1758326757.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012487
2025-09-20T00:05:58.027Z,1758326758.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:58.031Z,1758326758.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 49.551064 m,
      bearing: 253.464839 deg,
      approach rate: -0.441004 m/s,
      LOS rate: -0.060745 deg/s,
      cmd heading: 240.210267 deg,
      new cmd heading: 240.156465 deg.

2025-09-20T00:05:58.048Z,1758326758.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191521 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:58.229Z,1758326758.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264443
2025-09-20T00:05:58.411Z,1758326758.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:58.430Z,1758326758.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 49.385838 m,
      bearing: 253.441767 deg,
      approach rate: -0.431656 m/s,
      LOS rate: -0.060480 deg/s,
      cmd heading: 240.156473 deg,
      new cmd heading: 240.110172 deg.

2025-09-20T00:05:58.431Z,1758326758.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190713 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:58.484Z,1758326758.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519743
2025-09-20T00:05:58.734Z,1758326758.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769190
2025-09-20T00:05:58.860Z,1758326758.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:58.863Z,1758326758.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 49.184616 m,
      bearing: 253.413405 deg,
      approach rate: -0.447640 m/s,
      LOS rate: -0.063352 deg/s,
      cmd heading: 240.110164 deg,
      new cmd heading: 240.053209 deg.

2025-09-20T00:05:58.864Z,1758326758.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.189719 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:58.985Z,1758326758.985 [DAT](INFO): DAT read: Rx Time:00:05:59.7819

2025-09-20T00:05:58.986Z,1758326758.986 [DAT](INFO): Rx dataTimestamp_ set to:1758326758.985294
2025-09-20T00:05:58.986Z,1758326758.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021531
2025-09-20T00:05:59.237Z,1758326759.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272411
2025-09-20T00:05:59.257Z,1758326759.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-09-20T00:05:59.260Z,1758326759.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.662575 m,
      nav range: 49.013115 m,
      bearing: 253.382626 deg,
      approach rate: -0.431265 m/s,
      LOS rate: -0.077669 deg/s,
      cmd heading: 240.053200 deg,
      new cmd heading: 239.991427 deg.

2025-09-20T00:05:59.261Z,1758326759.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188641 target range: 51.662575 and range: 51.80 m.
2025-09-20T00:05:59.496Z,1758326759.496 [DAT](INFO): DAT read: 00:05:59.7819 LVL= 32048, 32753, 32754, 32755, AGC= 65, IDX= 429,-0.32, 1.054,-0.931, 0.775, 0.652, PHS= 0.504,-1.538, 0.079, RAW= 138.6,  10.3, CAL= 138.2,  11.2, ROT=  11.8, -11.2

2025-09-20T00:05:59.497Z,1758326759.497 [DAT](INFO): got valid direction response:
 00:05:59.7819 LVL= 32048, 32753, 32754, 32755, AGC= 65, IDX= 429,-0.32, 1.054,-0.931, 0.775, 0.652, PHS= 0.504,-1.538, 0.079, RAW= 138.6,  10.3, CAL= 138.2,  11.2, ROT=  11.8, -11.2

2025-09-20T00:05:59.498Z,1758326759.498 [DAT](INFO): DAT read: Bearing  29.7,  10.8 (Local)

2025-09-20T00:05:59.498Z,1758326759.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.7,  10.8 (Local)

2025-09-20T00:05:59.500Z,1758326759.500 [DAT](INFO): DAT read: Range 11 to 50 : 50.3 m  (Round-trip  67.1 ms) speed  0.4 m/s

2025-09-20T00:05:59.500Z,1758326759.500 [DAT](INFO): DAT read: user:732>

2025-09-20T00:05:59.501Z,1758326759.501 [DAT](INFO): DAT read: Tx time:00:06:00.9106

2025-09-20T00:05:59.501Z,1758326759.501 [DAT](INFO): Ping request sent.
2025-09-20T00:05:59.501Z,1758326759.501 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:05:59.502Z,1758326759.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:05:59.503Z,1758326759.503 [DAT](INFO): direction in FSK: [0.960225,0.200601,0.194234]
2025-09-20T00:05:59.503Z,1758326759.503 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:59.503Z,1758326759.503 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:59.548Z,1758326759.548 [DAT](INFO): publishing transmit ping time
2025-09-20T00:05:59.549Z,1758326759.549 [DAT](INFO): publishing direction and range info
2025-09-20T00:05:59.667Z,1758326759.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.299999 m,
      deltaT: 3.536450 s,
      deltaX: -1.500000 m,
      approachRate: -0.424154 m/s,
      rangeRepo size: 4

2025-09-20T00:05:59.673Z,1758326759.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.166401 m,
      bearing: 254.865180 deg,
      lat: 36.779415 deg,
      lon: -121.859722 deg,
      deltaT: 3.536450 s,
      deltaX: -1.496174 m,
      approachRate: -0.423072 m/s,
      posRepo size: 4

2025-09-20T00:05:59.674Z,1758326759.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:05:59.681Z,1758326759.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 48.863033 m,
      bearing: 253.495573 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077669 deg/s,
      cmd heading: 239.991428 deg,
      new cmd heading: 239.927909 deg.

2025-09-20T00:05:59.682Z,1758326759.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187532 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:00.057Z,1758326760.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:00.059Z,1758326760.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:06:00.062Z,1758326760.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 48.676201 m,
      bearing: 253.460629 deg,
      approach rate: -0.476107 m/s,
      LOS rate: -0.089390 deg/s,
      cmd heading: 239.927907 deg,
      new cmd heading: 239.857751 deg.

2025-09-20T00:06:00.063Z,1758326760.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186307 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:00.245Z,1758326760.245 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:00.245Z,1758326760.245 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:00.245Z,1758326760.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:06:00.450Z,1758326760.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:06:00.453Z,1758326760.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 48.496708 m,
      bearing: 253.427131 deg,
      approach rate: -0.458842 m/s,
      LOS rate: -0.085947 deg/s,
      cmd heading: 239.857747 deg,
      new cmd heading: 239.790505 deg.

2025-09-20T00:06:00.454Z,1758326760.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185134 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:00.498Z,1758326760.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995985
2025-09-20T00:06:00.749Z,1758326760.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247752
2025-09-20T00:06:00.846Z,1758326760.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:06:00.849Z,1758326760.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 48.315643 m,
      bearing: 253.393250 deg,
      approach rate: -0.457105 m/s,
      LOS rate: -0.085856 deg/s,
      cmd heading: 239.790511 deg,
      new cmd heading: 239.722494 deg.

2025-09-20T00:06:00.850Z,1758326760.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183947 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:01.004Z,1758326761.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501766
2025-09-20T00:06:01.253Z,1758326761.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751463
2025-09-20T00:06:01.296Z,1758326761.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:06:01.299Z,1758326761.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 48.121624 m,
      bearing: 253.351722 deg,
      approach rate: -0.435114 m/s,
      LOS rate: -0.093507 deg/s,
      cmd heading: 239.722482 deg,
      new cmd heading: 239.639092 deg.

2025-09-20T00:06:01.300Z,1758326761.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182491 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:01.509Z,1758326761.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006744
2025-09-20T00:06:01.685Z,1758326761.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:06:01.688Z,1758326761.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 47.950066 m,
      bearing: 253.314717 deg,
      approach rate: -0.451629 m/s,
      LOS rate: -0.097765 deg/s,
      cmd heading: 239.639099 deg,
      new cmd heading: 239.564825 deg.

2025-09-20T00:06:01.689Z,1758326761.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181195 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:01.758Z,1758326761.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256062
2025-09-20T00:06:02.009Z,1758326762.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507520
2025-09-20T00:06:02.085Z,1758326762.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:02.087Z,1758326762.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:06:02.090Z,1758326762.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 47.757824 m,
      bearing: 253.279813 deg,
      approach rate: -0.463297 m/s,
      LOS rate: -0.084458 deg/s,
      cmd heading: 239.564814 deg,
      new cmd heading: 239.494724 deg.

2025-09-20T00:06:02.091Z,1758326762.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179972 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:02.261Z,1758326762.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759526
2025-09-20T00:06:02.479Z,1758326762.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:06:02.486Z,1758326762.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 47.584328 m,
      bearing: 253.248206 deg,
      approach rate: -0.441930 m/s,
      LOS rate: -0.080803 deg/s,
      cmd heading: 239.494737 deg,
      new cmd heading: 239.431292 deg.

2025-09-20T00:06:02.487Z,1758326762.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178864 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:02.516Z,1758326762.516 [DAT](INFO): DAT read: Rx Time:00:06:03.3796

2025-09-20T00:06:02.518Z,1758326762.518 [DAT](INFO): Rx dataTimestamp_ set to:1758326762.516920
2025-09-20T00:06:02.519Z,1758326762.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017515
2025-09-20T00:06:02.765Z,1758326762.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263837
2025-09-20T00:06:02.872Z,1758326762.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.17 m.
2025-09-20T00:06:02.875Z,1758326762.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.166401 m,
      nav range: 47.393497 m,
      bearing: 253.213423 deg,
      approach rate: -0.486188 m/s,
      LOS rate: -0.088974 deg/s,
      cmd heading: 239.431298 deg,
      new cmd heading: 239.361453 deg.

2025-09-20T00:06:02.876Z,1758326762.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177646 target range: 50.166401 and range: 50.30 m.
2025-09-20T00:06:03.054Z,1758326763.054 [DAT](INFO): DAT read: 00:06:03.3796 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 422,-0.36, 1.500,-0.457, 1.210, 1.128, PHS= 0.474,-1.540, 0.038, RAW= 138.1,  11.2, CAL= 137.6,  12.2, ROT=  12.4, -12.2

2025-09-20T00:06:03.055Z,1758326763.055 [DAT](INFO): got valid direction response:
 00:06:03.3796 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 422,-0.36, 1.500,-0.457, 1.210, 1.128, PHS= 0.474,-1.540, 0.038, RAW= 138.1,  11.2, CAL= 137.6,  12.2, ROT=  12.4, -12.2

2025-09-20T00:06:03.061Z,1758326763.061 [DAT](INFO): DAT read: Bearing  30.4,  10.9 (Local)

2025-09-20T00:06:03.061Z,1758326763.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.4,  10.9 (Local)

2025-09-20T00:06:03.063Z,1758326763.063 [DAT](INFO): DAT read: Range 11 to 50 : 48.6 m  (Round-trip  64.9 ms) speed  0.4 m/s

2025-09-20T00:06:03.063Z,1758326763.063 [DAT](INFO): DAT read: user:733>

2025-09-20T00:06:03.068Z,1758326763.068 [DAT](INFO): DAT read: Tx time:00:06:04.5106

2025-09-20T00:06:03.069Z,1758326763.069 [DAT](INFO): Ping request sent.
2025-09-20T00:06:03.069Z,1758326763.069 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:03.069Z,1758326763.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:03.070Z,1758326763.070 [DAT](INFO): direction in FSK: [0.954615,0.209886,0.211325]
2025-09-20T00:06:03.070Z,1758326763.070 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:03.070Z,1758326763.070 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:03.085Z,1758326763.085 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:03.085Z,1758326763.085 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:03.329Z,1758326763.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.599998 m,
      deltaT: 3.529103 s,
      deltaX: -1.700001 m,
      approachRate: -0.481709 m/s,
      rangeRepo size: 4

2025-09-20T00:06:03.331Z,1758326763.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.470947 m,
      bearing: 255.119117 deg,
      lat: 36.779415 deg,
      lon: -121.859726 deg,
      deltaT: 3.529103 s,
      deltaX: -1.695454 m,
      approachRate: -0.480421 m/s,
      posRepo size: 4

2025-09-20T00:06:03.336Z,1758326763.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:03.339Z,1758326763.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 47.562927 m,
      bearing: 253.314400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088974 deg/s,
      cmd heading: 239.361466 deg,
      new cmd heading: 239.280962 deg.

2025-09-20T00:06:03.339Z,1758326763.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176240 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:03.689Z,1758326763.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:03.692Z,1758326763.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 47.391392 m,
      bearing: 253.286426 deg,
      approach rate: -0.469711 m/s,
      LOS rate: -0.076876 deg/s,
      cmd heading: 239.280952 deg,
      new cmd heading: 239.224802 deg.

2025-09-20T00:06:03.693Z,1758326763.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175261 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:04.111Z,1758326764.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:04.114Z,1758326764.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:04.122Z,1758326764.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 47.206406 m,
      bearing: 253.259525 deg,
      approach rate: -0.436057 m/s,
      LOS rate: -0.063661 deg/s,
      cmd heading: 239.224808 deg,
      new cmd heading: 239.170794 deg.

2025-09-20T00:06:04.123Z,1758326764.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174318 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:04.277Z,1758326764.277 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:04.277Z,1758326764.277 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:04.277Z,1758326764.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:06:04.499Z,1758326764.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:04.502Z,1758326764.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 47.046242 m,
      bearing: 253.236678 deg,
      approach rate: -0.415033 m/s,
      LOS rate: -0.059404 deg/s,
      cmd heading: 239.170794 deg,
      new cmd heading: 239.124946 deg.

2025-09-20T00:06:04.503Z,1758326764.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173518 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:04.586Z,1758326764.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517055
2025-09-20T00:06:04.797Z,1758326764.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728454
2025-09-20T00:06:04.897Z,1758326764.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:04.902Z,1758326764.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 46.867954 m,
      bearing: 253.211301 deg,
      approach rate: -0.449408 m/s,
      LOS rate: -0.064213 deg/s,
      cmd heading: 239.124950 deg,
      new cmd heading: 239.074002 deg.

2025-09-20T00:06:04.905Z,1758326764.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172628 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:05.052Z,1758326765.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982522
2025-09-20T00:06:05.301Z,1758326765.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232230
2025-09-20T00:06:05.313Z,1758326765.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:05.319Z,1758326765.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 46.687317 m,
      bearing: 253.188937 deg,
      approach rate: -0.432953 m/s,
      LOS rate: -0.053809 deg/s,
      cmd heading: 239.073997 deg,
      new cmd heading: 239.029096 deg.

2025-09-20T00:06:05.322Z,1758326765.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171845 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:05.554Z,1758326765.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485357
2025-09-20T00:06:05.695Z,1758326765.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:05.698Z,1758326765.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 46.525219 m,
      bearing: 253.168772 deg,
      approach rate: -0.424904 m/s,
      LOS rate: -0.053042 deg/s,
      cmd heading: 239.029109 deg,
      new cmd heading: 238.988639 deg.

2025-09-20T00:06:05.699Z,1758326765.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171139 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:05.806Z,1758326765.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736869
2025-09-20T00:06:06.059Z,1758326766.059 [DAT](INFO): DAT read: Rx Time:00:06:06.9774

2025-09-20T00:06:06.061Z,1758326766.061 [DAT](INFO): Rx dataTimestamp_ set to:1758326766.060088
2025-09-20T00:06:06.063Z,1758326766.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993905
2025-09-20T00:06:06.142Z,1758326766.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:06.148Z,1758326766.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:06.151Z,1758326766.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 46.333748 m,
      bearing: 253.149314 deg,
      approach rate: -0.426180 m/s,
      LOS rate: -0.043488 deg/s,
      cmd heading: 238.988647 deg,
      new cmd heading: 238.949571 deg.

2025-09-20T00:06:06.157Z,1758326766.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170457 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:06.309Z,1758326766.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240142
2025-09-20T00:06:06.514Z,1758326766.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.47 m.
2025-09-20T00:06:06.517Z,1758326766.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.470947 m,
      nav range: 46.170654 m,
      bearing: 253.132654 deg,
      approach rate: -0.440677 m/s,
      LOS rate: -0.045175 deg/s,
      cmd heading: 238.949578 deg,
      new cmd heading: 238.916140 deg.

2025-09-20T00:06:06.523Z,1758326766.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169873 target range: 48.470947 and range: 48.60 m.
2025-09-20T00:06:06.592Z,1758326766.592 [DAT](INFO): DAT read: 00:06:06.9774 LVL= 29216, 31937, 28386, 32755, AGC= 65, IDX= 416,-0.10, 2.152, 0.177, 1.838, 1.732, PHS= 0.522,-1.510, 0.061, RAW= 137.5,  10.1, CAL= 137.1,  11.1, ROT=  12.9, -11.1

2025-09-20T00:06:06.593Z,1758326766.593 [DAT](INFO): got valid direction response:
 00:06:06.9774 LVL= 29216, 31937, 28386, 32755, AGC= 65, IDX= 416,-0.10, 2.152, 0.177, 1.838, 1.732, PHS= 0.522,-1.510, 0.061, RAW= 137.5,  10.1, CAL= 137.1,  11.1, ROT=  12.9, -11.1

2025-09-20T00:06:06.594Z,1758326766.594 [DAT](INFO): DAT read: Bearing  28.8,  11.0 (Local)

2025-09-20T00:06:06.595Z,1758326766.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.8,  11.0 (Local)

2025-09-20T00:06:06.596Z,1758326766.596 [DAT](INFO): DAT read: Range 11 to 50 : 47.0 m  (Round-trip  62.7 ms) speed  0.1 m/s

2025-09-20T00:06:06.597Z,1758326766.597 [DAT](INFO): DAT read: user:734>

2025-09-20T00:06:06.598Z,1758326766.598 [DAT](INFO): DAT read: Tx time:00:06:08.0605

2025-09-20T00:06:06.598Z,1758326766.598 [DAT](INFO): Ping request sent.
2025-09-20T00:06:06.598Z,1758326766.598 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:06.598Z,1758326766.598 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:06.599Z,1758326766.599 [DAT](INFO): direction in FSK: [0.956526,0.219074,0.192522]
2025-09-20T00:06:06.599Z,1758326766.599 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:06.612Z,1758326766.612 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:06.615Z,1758326766.615 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:06.615Z,1758326766.615 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:06.932Z,1758326766.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.000000 m,
      deltaT: 3.543914 s,
      deltaX: -1.599998 m,
      approachRate: -0.451478 m/s,
      rangeRepo size: 4

2025-09-20T00:06:06.934Z,1758326766.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.875271 m,
      bearing: 255.214542 deg,
      lat: 36.779424 deg,
      lon: -121.859731 deg,
      deltaT: 3.543914 s,
      deltaX: -1.595676 m,
      approachRate: -0.450258 m/s,
      posRepo size: 4

2025-09-20T00:06:06.935Z,1758326766.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:06.938Z,1758326766.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 46.127213 m,
      bearing: 254.446136 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045175 deg/s,
      cmd heading: 238.916138 deg,
      new cmd heading: 238.878445 deg.

2025-09-20T00:06:06.939Z,1758326766.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169215 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:07.361Z,1758326767.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:07.364Z,1758326767.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 45.940941 m,
      bearing: 254.429100 deg,
      approach rate: -0.433307 m/s,
      LOS rate: -0.039790 deg/s,
      cmd heading: 238.878435 deg,
      new cmd heading: 238.844224 deg.

2025-09-20T00:06:07.365Z,1758326767.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168618 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:07.738Z,1758326767.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:07.746Z,1758326767.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 45.781685 m,
      bearing: 254.414659 deg,
      approach rate: -0.422874 m/s,
      LOS rate: -0.038478 deg/s,
      cmd heading: 238.844229 deg,
      new cmd heading: 238.815247 deg.

2025-09-20T00:06:07.751Z,1758326767.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168112 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:08.154Z,1758326768.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:08.156Z,1758326768.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:08.159Z,1758326768.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 45.593739 m,
      bearing: 254.390180 deg,
      approach rate: -0.449538 m/s,
      LOS rate: -0.058793 deg/s,
      cmd heading: 238.815242 deg,
      new cmd heading: 238.766080 deg.

2025-09-20T00:06:08.160Z,1758326768.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167254 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:08.325Z,1758326768.325 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:08.325Z,1758326768.325 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:08.325Z,1758326768.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:06:08.534Z,1758326768.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:08.537Z,1758326768.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 45.437012 m,
      bearing: 254.369697 deg,
      approach rate: -0.414981 m/s,
      LOS rate: -0.054421 deg/s,
      cmd heading: 238.766092 deg,
      new cmd heading: 238.724986 deg.

2025-09-20T00:06:08.538Z,1758326768.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166537 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:08.578Z,1758326768.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979662
2025-09-20T00:06:08.829Z,1758326768.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230946
2025-09-20T00:06:08.936Z,1758326768.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:08.939Z,1758326768.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 45.263306 m,
      bearing: 254.347041 deg,
      approach rate: -0.431996 m/s,
      LOS rate: -0.056561 deg/s,
      cmd heading: 238.724974 deg,
      new cmd heading: 238.679488 deg.

2025-09-20T00:06:08.940Z,1758326768.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165743 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:09.083Z,1758326769.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484815
2025-09-20T00:06:09.333Z,1758326769.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734736
2025-09-20T00:06:09.417Z,1758326769.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:09.419Z,1758326769.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 45.063171 m,
      bearing: 254.312540 deg,
      approach rate: -0.416197 m/s,
      LOS rate: -0.072065 deg/s,
      cmd heading: 238.679485 deg,
      new cmd heading: 238.610178 deg.

2025-09-20T00:06:09.427Z,1758326769.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164533 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:09.585Z,1758326769.585 [DAT](INFO): DAT read: Rx Time:00:06:10.5256

2025-09-20T00:06:09.586Z,1758326769.586 [DAT](INFO): Rx dataTimestamp_ set to:1758326769.585234
2025-09-20T00:06:09.586Z,1758326769.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988104
2025-09-20T00:06:09.788Z,1758326769.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:09.791Z,1758326769.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 44.885750 m,
      bearing: 254.282394 deg,
      approach rate: -0.477597 m/s,
      LOS rate: -0.081471 deg/s,
      cmd heading: 238.610172 deg,
      new cmd heading: 238.549641 deg.

2025-09-20T00:06:09.792Z,1758326769.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163476 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:09.838Z,1758326769.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239927
2025-09-20T00:06:10.093Z,1758326770.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494593
2025-09-20T00:06:10.273Z,1758326770.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:10.275Z,1758326770.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.88 m.
2025-09-20T00:06:10.278Z,1758326770.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.875271 m,
      nav range: 44.672569 m,
      bearing: 254.248208 deg,
      approach rate: -0.437866 m/s,
      LOS rate: -0.070553 deg/s,
      cmd heading: 238.549630 deg,
      new cmd heading: 238.480931 deg.

2025-09-20T00:06:10.279Z,1758326770.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162277 target range: 46.875271 and range: 47.00 m.
2025-09-20T00:06:10.347Z,1758326770.347 [DAT](INFO): DAT read: 00:06:10.5256 LVL= 25680, 32753, 26594, 32755, AGC= 65, IDX= 429, 0.00,-2.678, 1.646,-3.005,-3.097, PHS= 0.522,-1.495, 0.049, RAW= 137.0,  10.1, CAL= 136.6,  11.2, ROT=  13.4, -11.2

2025-09-20T00:06:10.348Z,1758326770.348 [DAT](INFO): got valid direction response:
 00:06:10.5256 LVL= 25680, 32753, 26594, 32755, AGC= 65, IDX= 429, 0.00,-2.678, 1.646,-3.005,-3.097, PHS= 0.522,-1.495, 0.049, RAW= 137.0,  10.1, CAL= 136.6,  11.2, ROT=  13.4, -11.2

2025-09-20T00:06:10.349Z,1758326770.349 [DAT](INFO): DAT read: Bearing  28.4,  11.1 (Local)

2025-09-20T00:06:10.349Z,1758326770.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.4,  11.1 (Local)

2025-09-20T00:06:10.350Z,1758326770.350 [DAT](INFO): DAT read: Range 11 to 50 : 45.7 m  (Round-trip  61.0 ms) speed  0.4 m/s

2025-09-20T00:06:10.351Z,1758326770.351 [DAT](INFO): DAT read: user:735>

2025-09-20T00:06:10.352Z,1758326770.352 [DAT](INFO): DAT read: Tx time:00:06:11.6105

2025-09-20T00:06:10.352Z,1758326770.352 [DAT](INFO): Ping request sent.
2025-09-20T00:06:10.352Z,1758326770.352 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:10.353Z,1758326770.353 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:10.354Z,1758326770.354 [DAT](INFO): direction in FSK: [0.954250,0.227334,0.194234]
2025-09-20T00:06:10.354Z,1758326770.354 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:10.354Z,1758326770.354 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:10.362Z,1758326770.362 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:10.362Z,1758326770.362 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:10.637Z,1758326770.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.700001 m,
      deltaT: 3.778421 s,
      deltaX: -1.299999 m,
      approachRate: -0.344059 m/s,
      rangeRepo size: 4

2025-09-20T00:06:10.639Z,1758326770.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.578606 m,
      bearing: 255.141831 deg,
      lat: 36.779428 deg,
      lon: -121.859731 deg,
      deltaT: 3.778421 s,
      deltaX: -1.296665 m,
      approachRate: -0.343176 m/s,
      posRepo size: 4

2025-09-20T00:06:10.639Z,1758326770.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.58 m.
2025-09-20T00:06:10.658Z,1758326770.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.578606 m,
      nav range: 44.422771 m,
      bearing: 254.775444 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070553 deg/s,
      cmd heading: 238.480918 deg,
      new cmd heading: 238.430018 deg.

2025-09-20T00:06:10.659Z,1758326770.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161389 target range: 45.578606 and range: 45.70 m.
2025-09-20T00:06:11.053Z,1758326771.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.58 m.
2025-09-20T00:06:11.056Z,1758326771.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.578606 m,
      nav range: 44.231953 m,
      bearing: 254.747524 deg,
      approach rate: -0.457212 m/s,
      LOS rate: -0.067188 deg/s,
      cmd heading: 238.430019 deg,
      new cmd heading: 238.373937 deg.

2025-09-20T00:06:11.057Z,1758326771.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160410 target range: 45.578606 and range: 45.70 m.
2025-09-20T00:06:11.446Z,1758326771.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.58 m.
2025-09-20T00:06:11.449Z,1758326771.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.578606 m,
      nav range: 44.050903 m,
      bearing: 254.719688 deg,
      approach rate: -0.460525 m/s,
      LOS rate: -0.071096 deg/s,
      cmd heading: 238.373930 deg,
      new cmd heading: 238.318029 deg.

2025-09-20T00:06:11.450Z,1758326771.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159434 target range: 45.578606 and range: 45.70 m.
2025-09-20T00:06:11.860Z,1758326771.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.58 m.
2025-09-20T00:06:11.865Z,1758326771.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.578606 m,
      nav range: 43.867615 m,
      bearing: 254.691591 deg,
      approach rate: -0.443074 m/s,
      LOS rate: -0.068204 deg/s,
      cmd heading: 238.318032 deg,
      new cmd heading: 238.261603 deg.

2025-09-20T00:06:11.868Z,1758326771.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158450 target range: 45.578606 and range: 45.70 m.
2025-09-20T00:06:12.434Z,1758326772.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:12.436Z,1758326772.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.58 m.
2025-09-20T00:06:12.439Z,1758326772.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.578606 m,
      nav range: 43.601902 m,
      bearing: 254.657061 deg,
      approach rate: -0.460888 m/s,
      LOS rate: -0.060257 deg/s,
      cmd heading: 238.261614 deg,
      new cmd heading: 238.192135 deg.

2025-09-20T00:06:12.440Z,1758326772.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157237 target range: 45.578606 and range: 45.70 m.
2025-09-20T00:06:12.609Z,1758326772.609 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:12.610Z,1758326772.610 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:12.610Z,1758326772.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:06:12.863Z,1758326772.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509967
2025-09-20T00:06:12.909Z,1758326772.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.58 m.
2025-09-20T00:06:12.916Z,1758326772.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.578606 m,
      nav range: 43.384689 m,
      bearing: 254.629170 deg,
      approach rate: -0.459266 m/s,
      LOS rate: -0.059267 deg/s,
      cmd heading: 238.192138 deg,
      new cmd heading: 238.136076 deg.

2025-09-20T00:06:12.917Z,1758326772.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156259 target range: 45.578606 and range: 45.70 m.
2025-09-20T00:06:13.114Z,1758326773.114 [DAT](INFO): DAT read: Rx Time:00:06:14.0733

2025-09-20T00:06:13.114Z,1758326773.114 [DAT](INFO): Rx dataTimestamp_ set to:1758326773.113737
2025-09-20T00:06:13.115Z,1758326773.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762220
2025-09-20T00:06:13.367Z,1758326773.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014235
2025-09-20T00:06:13.438Z,1758326773.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.58 m.
2025-09-20T00:06:13.441Z,1758326773.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.578606 m,
      nav range: 43.136909 m,
      bearing: 254.603854 deg,
      approach rate: -0.468994 m/s,
      LOS rate: -0.048193 deg/s,
      cmd heading: 238.136075 deg,
      new cmd heading: 238.085153 deg.

2025-09-20T00:06:13.442Z,1758326773.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155370 target range: 45.578606 and range: 45.70 m.
2025-09-20T00:06:13.628Z,1758326773.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267104
2025-09-20T00:06:13.811Z,1758326773.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.58 m.
2025-09-20T00:06:13.813Z,1758326773.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.578606 m,
      nav range: 42.970482 m,
      bearing: 254.586895 deg,
      approach rate: -0.446349 m/s,
      LOS rate: -0.045659 deg/s,
      cmd heading: 238.085149 deg,
      new cmd heading: 238.051100 deg.

2025-09-20T00:06:13.814Z,1758326773.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154776 target range: 45.578606 and range: 45.70 m.
2025-09-20T00:06:13.883Z,1758326773.883 [DAT](INFO): DAT read: 00:06:14.0733 LVL= 28112, 32753, 29682, 32243, AGC= 65, IDX= 421, 0.07, 2.959, 0.938, 2.609, 2.510, PHS= 0.551,-1.527, 0.055, RAW= 136.8,   9.8, CAL= 136.4,  10.8, ROT=  13.6, -10.8

2025-09-20T00:06:13.887Z,1758326773.887 [DAT](INFO): got valid direction response:
 00:06:14.0733 LVL= 28112, 32753, 29682, 32243, AGC= 65, IDX= 421, 0.07, 2.959, 0.938, 2.609, 2.510, PHS= 0.551,-1.527, 0.055, RAW= 136.8,   9.8, CAL= 136.4,  10.8, ROT=  13.6, -10.8

2025-09-20T00:06:13.890Z,1758326773.890 [DAT](INFO): DAT read: Bearing  27.4,  10.8 (Local)

2025-09-20T00:06:13.891Z,1758326773.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.4,  10.8 (Local)

2025-09-20T00:06:13.913Z,1758326773.913 [DAT](INFO): DAT read: Range 11 to 50 : 43.9 m  (Round-trip  58.6 ms) speed  0.3 m/s

2025-09-20T00:06:13.914Z,1758326773.914 [DAT](INFO): DAT read: user:736>

2025-09-20T00:06:13.915Z,1758326773.915 [DAT](INFO): DAT read: Tx time:00:06:15.1605

2025-09-20T00:06:13.915Z,1758326773.915 [DAT](INFO): Ping request sent.
2025-09-20T00:06:13.915Z,1758326773.915 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:13.915Z,1758326773.915 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:13.929Z,1758326773.929 [DAT](INFO): direction in FSK: [0.954745,0.230977,0.187381]
2025-09-20T00:06:13.929Z,1758326773.929 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:13.929Z,1758326773.929 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:13.940Z,1758326773.940 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:13.941Z,1758326773.941 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:14.233Z,1758326774.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.900002 m,
      deltaT: 3.528417 s,
      deltaX: -1.799999 m,
      approachRate: -0.510144 m/s,
      rangeRepo size: 4

2025-09-20T00:06:14.235Z,1758326774.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.783314 m,
      bearing: 254.688794 deg,
      lat: 36.779428 deg,
      lon: -121.859734 deg,
      deltaT: 3.528417 s,
      deltaX: -1.795292 m,
      approachRate: -0.508809 m/s,
      posRepo size: 4

2025-09-20T00:06:14.236Z,1758326774.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.78 m.
2025-09-20T00:06:14.239Z,1758326774.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.783314 m,
      nav range: 43.052174 m,
      bearing: 254.667128 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045659 deg/s,
      cmd heading: 238.051108 deg,
      new cmd heading: 238.012633 deg.

2025-09-20T00:06:14.256Z,1758326774.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154104 target range: 43.783314 and range: 43.90 m.
2025-09-20T00:06:14.612Z,1758326774.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:14.614Z,1758326774.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.78 m.
2025-09-20T00:06:14.618Z,1758326774.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.783314 m,
      nav range: 42.887955 m,
      bearing: 254.653655 deg,
      approach rate: -0.429381 m/s,
      LOS rate: -0.035364 deg/s,
      cmd heading: 238.012640 deg,
      new cmd heading: 237.985590 deg.

2025-09-20T00:06:14.619Z,1758326774.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153632 target range: 43.783314 and range: 43.90 m.
2025-09-20T00:06:14.625Z,1758326774.625 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:14.625Z,1758326774.625 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:14.625Z,1758326774.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:06:14.878Z,1758326774.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.962194
2025-09-20T00:06:14.994Z,1758326774.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.78 m.
2025-09-20T00:06:14.997Z,1758326774.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.783314 m,
      nav range: 42.726303 m,
      bearing: 254.640601 deg,
      approach rate: -0.425531 m/s,
      LOS rate: -0.034492 deg/s,
      cmd heading: 237.985593 deg,
      new cmd heading: 237.959387 deg.

2025-09-20T00:06:14.998Z,1758326774.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153175 target range: 43.783314 and range: 43.90 m.
2025-09-20T00:06:15.129Z,1758326775.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213603
2025-09-20T00:06:15.382Z,1758326775.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466839
2025-09-20T00:06:15.441Z,1758326775.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.78 m.
2025-09-20T00:06:15.444Z,1758326775.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.783314 m,
      nav range: 42.537750 m,
      bearing: 254.629863 deg,
      approach rate: -0.421854 m/s,
      LOS rate: -0.024131 deg/s,
      cmd heading: 237.959392 deg,
      new cmd heading: 237.937821 deg.

2025-09-20T00:06:15.445Z,1758326775.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152798 target range: 43.783314 and range: 43.90 m.
2025-09-20T00:06:15.633Z,1758326775.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717574
2025-09-20T00:06:15.807Z,1758326775.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.78 m.
2025-09-20T00:06:15.810Z,1758326775.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.783314 m,
      nav range: 42.383297 m,
      bearing: 254.621103 deg,
      approach rate: -0.422000 m/s,
      LOS rate: -0.024023 deg/s,
      cmd heading: 237.937809 deg,
      new cmd heading: 237.920223 deg.

2025-09-20T00:06:15.811Z,1758326775.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152491 target range: 43.783314 and range: 43.90 m.
2025-09-20T00:06:15.886Z,1758326775.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970770
2025-09-20T00:06:16.138Z,1758326776.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223130
2025-09-20T00:06:16.260Z,1758326776.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.78 m.
2025-09-20T00:06:16.263Z,1758326776.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.783314 m,
      nav range: 42.194668 m,
      bearing: 254.611361 deg,
      approach rate: -0.416250 m/s,
      LOS rate: -0.021594 deg/s,
      cmd heading: 237.920214 deg,
      new cmd heading: 237.900643 deg.

2025-09-20T00:06:16.264Z,1758326776.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152150 target range: 43.783314 and range: 43.90 m.
2025-09-20T00:06:16.389Z,1758326776.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473795
2025-09-20T00:06:16.614Z,1758326776.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:16.632Z,1758326776.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.78 m.
2025-09-20T00:06:16.635Z,1758326776.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.783314 m,
      nav range: 42.046654 m,
      bearing: 254.603640 deg,
      approach rate: -0.416074 m/s,
      LOS rate: -0.021779 deg/s,
      cmd heading: 237.900652 deg,
      new cmd heading: 237.885157 deg.

2025-09-20T00:06:16.641Z,1758326776.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725692
2025-09-20T00:06:16.642Z,1758326776.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151879 target range: 43.783314 and range: 43.90 m.
2025-09-20T00:06:16.893Z,1758326776.893 [DAT](INFO): DAT read: Rx Time:00:06:17.6214

2025-09-20T00:06:16.893Z,1758326776.893 [DAT](INFO): Rx dataTimestamp_ set to:1758326776.893104
2025-09-20T00:06:16.894Z,1758326776.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978687
2025-09-20T00:06:17.021Z,1758326777.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.78 m.
2025-09-20T00:06:17.024Z,1758326777.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.783314 m,
      nav range: 41.878189 m,
      bearing: 254.594882 deg,
      approach rate: -0.415982 m/s,
      LOS rate: -0.021712 deg/s,
      cmd heading: 237.885162 deg,
      new cmd heading: 237.867575 deg.

2025-09-20T00:06:17.025Z,1758326777.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151572 target range: 43.783314 and range: 43.90 m.
2025-09-20T00:06:17.145Z,1758326777.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229714
2025-09-20T00:06:17.403Z,1758326777.403 [DAT](INFO): DAT read: 00:06:17.6214 LVL= 24672, 29905, 25522, 32755, AGC= 63, IDX= 418, 0.32, 1.244,-0.767, 0.891, 0.795, PHS= 0.551,-1.517, 0.052, RAW= 136.6,   9.8, CAL= 136.3,  10.8, ROT=  13.7, -10.8

2025-09-20T00:06:17.404Z,1758326777.404 [DAT](INFO): got valid direction response:
 00:06:17.6214 LVL= 24672, 29905, 25522, 32755, AGC= 63, IDX= 418, 0.32, 1.244,-0.767, 0.891, 0.795, PHS= 0.551,-1.517, 0.052, RAW= 136.6,   9.8, CAL= 136.3,  10.8, ROT=  13.7, -10.8

2025-09-20T00:06:17.405Z,1758326777.405 [DAT](INFO): DAT read: Bearing  26.7,  11.1 (Local)

2025-09-20T00:06:17.405Z,1758326777.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.7,  11.1 (Local)

2025-09-20T00:06:17.407Z,1758326777.407 [DAT](INFO): DAT read: Range 11 to 50 : 42.6 m  (Round-trip  56.8 ms) speed  0.3 m/s

2025-09-20T00:06:17.407Z,1758326777.407 [DAT](INFO): DAT read: user:737>

2025-09-20T00:06:17.408Z,1758326777.408 [DAT](INFO): DAT read: Tx time:00:06:18.7105

2025-09-20T00:06:17.408Z,1758326777.408 [DAT](INFO): Ping request sent.
2025-09-20T00:06:17.408Z,1758326777.408 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:17.409Z,1758326777.409 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:17.410Z,1758326777.410 [DAT](INFO): direction in FSK: [0.954340,0.232643,0.187381]
2025-09-20T00:06:17.410Z,1758326777.410 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:17.410Z,1758326777.410 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:17.425Z,1758326777.425 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:17.426Z,1758326777.426 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:17.550Z,1758326777.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.599998 m,
      deltaT: 3.527575 s,
      deltaX: -1.300003 m,
      approachRate: -0.368526 m/s,
      rangeRepo size: 4

2025-09-20T00:06:17.557Z,1758326777.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.486763 m,
      bearing: 254.599665 deg,
      lat: 36.779428 deg,
      lon: -121.859737 deg,
      deltaT: 3.527575 s,
      deltaX: -1.296551 m,
      approachRate: -0.367547 m/s,
      posRepo size: 4

2025-09-20T00:06:17.557Z,1758326777.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:17.564Z,1758326777.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 41.922157 m,
      bearing: 254.681660 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021712 deg/s,
      cmd heading: 237.867567 deg,
      new cmd heading: 237.844614 deg.

2025-09-20T00:06:17.565Z,1758326777.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151172 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:17.917Z,1758326777.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:17.924Z,1758326777.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 41.761833 m,
      bearing: 254.673269 deg,
      approach rate: -0.436080 m/s,
      LOS rate: -0.022913 deg/s,
      cmd heading: 237.844618 deg,
      new cmd heading: 237.827770 deg.

2025-09-20T00:06:17.925Z,1758326777.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150877 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:18.314Z,1758326778.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:18.317Z,1758326778.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 41.586002 m,
      bearing: 254.663934 deg,
      approach rate: -0.443237 m/s,
      LOS rate: -0.023631 deg/s,
      cmd heading: 237.827761 deg,
      new cmd heading: 237.809012 deg.

2025-09-20T00:06:18.318Z,1758326778.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150550 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:18.695Z,1758326778.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:18.697Z,1758326778.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:18.701Z,1758326778.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 41.422764 m,
      bearing: 254.655340 deg,
      approach rate: -0.425669 m/s,
      LOS rate: -0.022497 deg/s,
      cmd heading: 237.809019 deg,
      new cmd heading: 237.791764 deg.

2025-09-20T00:06:18.702Z,1758326778.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150249 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:18.909Z,1758326778.909 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:18.909Z,1758326778.909 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:18.909Z,1758326778.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:06:19.120Z,1758326779.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:19.123Z,1758326779.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 41.251270 m,
      bearing: 254.646406 deg,
      approach rate: -0.410069 m/s,
      LOS rate: -0.021452 deg/s,
      cmd heading: 237.791752 deg,
      new cmd heading: 237.773809 deg.

2025-09-20T00:06:19.128Z,1758326779.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149936 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:19.161Z,1758326779.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752826
2025-09-20T00:06:19.413Z,1758326779.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004459
2025-09-20T00:06:19.525Z,1758326779.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:19.528Z,1758326779.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 41.059170 m,
      bearing: 254.627095 deg,
      approach rate: -0.469445 m/s,
      LOS rate: -0.047412 deg/s,
      cmd heading: 237.773802 deg,
      new cmd heading: 237.734999 deg.

2025-09-20T00:06:19.529Z,1758326779.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149259 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:19.665Z,1758326779.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256501
2025-09-20T00:06:19.913Z,1758326779.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:19.916Z,1758326779.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 40.882977 m,
      bearing: 254.609456 deg,
      approach rate: -0.454199 m/s,
      LOS rate: -0.045666 deg/s,
      cmd heading: 237.735007 deg,
      new cmd heading: 237.699577 deg.

2025-09-20T00:06:19.917Z,1758326779.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508557
2025-09-20T00:06:19.918Z,1758326779.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148640 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:20.173Z,1758326780.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764520
2025-09-20T00:06:20.355Z,1758326780.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:20.362Z,1758326780.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 40.680420 m,
      bearing: 254.590960 deg,
      approach rate: -0.458831 m/s,
      LOS rate: -0.042107 deg/s,
      cmd heading: 237.699572 deg,
      new cmd heading: 237.662394 deg.

2025-09-20T00:06:20.363Z,1758326780.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147991 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:20.428Z,1758326780.428 [DAT](INFO): DAT read: Rx Time:00:06:21.1696

2025-09-20T00:06:20.428Z,1758326780.428 [DAT](INFO): Rx dataTimestamp_ set to:1758326780.428038
2025-09-20T00:06:20.429Z,1758326780.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020453
2025-09-20T00:06:20.677Z,1758326780.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268694
2025-09-20T00:06:20.784Z,1758326780.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:20.786Z,1758326780.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.49 m.
2025-09-20T00:06:20.793Z,1758326780.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.486763 m,
      nav range: 40.496841 m,
      bearing: 254.574289 deg,
      approach rate: -0.425061 m/s,
      LOS rate: -0.038774 deg/s,
      cmd heading: 237.662388 deg,
      new cmd heading: 237.628896 deg.

2025-09-20T00:06:20.805Z,1758326780.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147407 target range: 42.486763 and range: 42.60 m.
2025-09-20T00:06:20.941Z,1758326780.941 [DAT](INFO): DAT read: 00:06:21.1696 LVL= 31376, 32753, 32050, 32755, AGC= 66, IDX= 415,-0.03, 1.875,-0.109, 1.523, 1.438, PHS= 0.539,-1.502, 0.041, RAW= 136.5,  10.0, CAL= 136.1,  11.1, ROT=  13.9, -11.1

2025-09-20T00:06:20.942Z,1758326780.942 [DAT](INFO): got valid direction response:
 00:06:21.1696 LVL= 31376, 32753, 32050, 32755, AGC= 66, IDX= 415,-0.03, 1.875,-0.109, 1.523, 1.438, PHS= 0.539,-1.502, 0.041, RAW= 136.5,  10.0, CAL= 136.1,  11.1, ROT=  13.9, -11.1

2025-09-20T00:06:20.943Z,1758326780.943 [DAT](INFO): DAT read: Bearing  26.6,  11.3 (Local)

2025-09-20T00:06:20.943Z,1758326780.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.6,  11.3 (Local)

2025-09-20T00:06:20.945Z,1758326780.945 [DAT](INFO): DAT read: Range 11 to 50 : 41.1 m  (Round-trip  54.9 ms) speed  0.5 m/s

2025-09-20T00:06:20.946Z,1758326780.946 [DAT](INFO): DAT read: user:738>

2025-09-20T00:06:20.946Z,1758326780.946 [DAT](INFO): DAT read: Tx time:00:06:22.2605

2025-09-20T00:06:20.947Z,1758326780.947 [DAT](INFO): Ping request sent.
2025-09-20T00:06:20.947Z,1758326780.947 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:20.947Z,1758326780.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:20.948Z,1758326780.948 [DAT](INFO): direction in FSK: [0.952557,0.235734,0.192522]
2025-09-20T00:06:20.948Z,1758326780.948 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:20.949Z,1758326780.949 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:20.952Z,1758326780.952 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:20.952Z,1758326780.952 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:21.173Z,1758326781.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.099998 m,
      deltaT: 3.532350 s,
      deltaX: -1.500000 m,
      approachRate: -0.424646 m/s,
      rangeRepo size: 4

2025-09-20T00:06:21.175Z,1758326781.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.990654 m,
      bearing: 254.402525 deg,
      lat: 36.779428 deg,
      lon: -121.859739 deg,
      deltaT: 3.532350 s,
      deltaX: -1.496109 m,
      approachRate: -0.423545 m/s,
      posRepo size: 4

2025-09-20T00:06:21.176Z,1758326781.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:21.179Z,1758326781.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 40.424118 m,
      bearing: 254.520643 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038774 deg/s,
      cmd heading: 237.628893 deg,
      new cmd heading: 237.598931 deg.

2025-09-20T00:06:21.181Z,1758326781.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146883 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:21.617Z,1758326781.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:21.620Z,1758326781.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 40.217552 m,
      bearing: 254.498962 deg,
      approach rate: -0.464573 m/s,
      LOS rate: -0.049011 deg/s,
      cmd heading: 237.598922 deg,
      new cmd heading: 237.555338 deg.

2025-09-20T00:06:21.621Z,1758326781.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146123 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:21.989Z,1758326781.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:21.991Z,1758326781.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 40.042316 m,
      bearing: 254.480394 deg,
      approach rate: -0.471623 m/s,
      LOS rate: -0.050192 deg/s,
      cmd heading: 237.555345 deg,
      new cmd heading: 237.518047 deg.

2025-09-20T00:06:21.993Z,1758326781.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145472 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:22.433Z,1758326782.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:22.437Z,1758326782.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 39.840588 m,
      bearing: 254.465023 deg,
      approach rate: -0.453890 m/s,
      LOS rate: -0.034759 deg/s,
      cmd heading: 237.518053 deg,
      new cmd heading: 237.487156 deg.

2025-09-20T00:06:22.438Z,1758326782.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144933 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:22.796Z,1758326782.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:22.798Z,1758326782.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:22.801Z,1758326782.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 39.681988 m,
      bearing: 254.453883 deg,
      approach rate: -0.434405 m/s,
      LOS rate: -0.030637 deg/s,
      cmd heading: 237.487153 deg,
      new cmd heading: 237.464782 deg.

2025-09-20T00:06:22.802Z,1758326782.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144542 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:22.945Z,1758326782.945 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:22.945Z,1758326782.945 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:22.945Z,1758326782.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:06:23.197Z,1758326783.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250337
2025-09-20T00:06:23.204Z,1758326783.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:23.207Z,1758326783.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 39.490929 m,
      bearing: 254.440638 deg,
      approach rate: -0.471277 m/s,
      LOS rate: -0.032828 deg/s,
      cmd heading: 237.464777 deg,
      new cmd heading: 237.438160 deg.

2025-09-20T00:06:23.208Z,1758326783.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144078 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:23.449Z,1758326783.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502470
2025-09-20T00:06:23.645Z,1758326783.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:23.647Z,1758326783.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 39.305267 m,
      bearing: 254.420622 deg,
      approach rate: -0.421079 m/s,
      LOS rate: -0.045612 deg/s,
      cmd heading: 237.438167 deg,
      new cmd heading: 237.397944 deg.

2025-09-20T00:06:23.649Z,1758326783.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143376 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:23.702Z,1758326783.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755023
2025-09-20T00:06:23.953Z,1758326783.953 [DAT](INFO): DAT read: Rx Time:00:06:24.7171

2025-09-20T00:06:23.953Z,1758326783.953 [DAT](INFO): Rx dataTimestamp_ set to:1758326783.953160
2025-09-20T00:06:23.954Z,1758326783.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007305
2025-09-20T00:06:23.989Z,1758326783.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:23.991Z,1758326783.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 39.144257 m,
      bearing: 254.403399 deg,
      approach rate: -0.468110 m/s,
      LOS rate: -0.050277 deg/s,
      cmd heading: 237.397950 deg,
      new cmd heading: 237.363364 deg.

2025-09-20T00:06:23.992Z,1758326783.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142772 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:24.205Z,1758326784.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258203
2025-09-20T00:06:24.419Z,1758326784.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.99 m.
2025-09-20T00:06:24.442Z,1758326784.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.990654 m,
      nav range: 38.960842 m,
      bearing: 254.390495 deg,
      approach rate: -0.426379 m/s,
      LOS rate: -0.030140 deg/s,
      cmd heading: 237.363362 deg,
      new cmd heading: 237.337432 deg.

2025-09-20T00:06:24.443Z,1758326784.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142320 target range: 40.990654 and range: 41.10 m.
2025-09-20T00:06:24.463Z,1758326784.463 [DAT](INFO): DAT read: 00:06:24.7171 LVL= 27984, 32753, 32754, 32755, AGC= 64, IDX= 423, 0.49, 0.176,-1.829,-0.180,-0.243, PHS= 0.521,-1.541, 0.019, RAW= 136.5,  10.8, CAL= 136.0,  11.8, ROT=  14.0, -11.8

2025-09-20T00:06:24.464Z,1758326784.464 [DAT](INFO): got valid direction response:
 00:06:24.7171 LVL= 27984, 32753, 32754, 32755, AGC= 64, IDX= 423, 0.49, 0.176,-1.829,-0.180,-0.243, PHS= 0.521,-1.541, 0.019, RAW= 136.5,  10.8, CAL= 136.0,  11.8, ROT=  14.0, -11.8

2025-09-20T00:06:24.465Z,1758326784.465 [DAT](INFO): DAT read: Bearing  26.9,  11.4 (Local)

2025-09-20T00:06:24.466Z,1758326784.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.9,  11.4 (Local)

2025-09-20T00:06:24.467Z,1758326784.467 [DAT](INFO): DAT read: Range 11 to 50 : 39.4 m  (Round-trip  52.6 ms) speed  0.4 m/s

2025-09-20T00:06:24.468Z,1758326784.468 [DAT](INFO): DAT read: user:739>

2025-09-20T00:06:24.469Z,1758326784.469 [DAT](INFO): DAT read: Tx time:00:06:25.8104

2025-09-20T00:06:24.469Z,1758326784.469 [DAT](INFO): Ping request sent.
2025-09-20T00:06:24.470Z,1758326784.470 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:24.470Z,1758326784.470 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:24.471Z,1758326784.471 [DAT](INFO): direction in FSK: [0.949791,0.236809,0.204496]
2025-09-20T00:06:24.471Z,1758326784.471 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:24.471Z,1758326784.471 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:24.474Z,1758326784.474 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:24.475Z,1758326784.475 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:24.912Z,1758326784.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.400002 m,
      deltaT: 3.528046 s,
      deltaX: -1.699997 m,
      approachRate: -0.481852 m/s,
      rangeRepo size: 4

2025-09-20T00:06:24.914Z,1758326784.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.295231 m,
      bearing: 254.087222 deg,
      lat: 36.779427 deg,
      lon: -121.859739 deg,
      deltaT: 3.528046 s,
      deltaX: -1.695423 m,
      approachRate: -0.480556 m/s,
      posRepo size: 4

2025-09-20T00:06:24.915Z,1758326784.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-09-20T00:06:24.918Z,1758326784.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.295231 m,
      nav range: 38.762096 m,
      bearing: 254.324825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030140 deg/s,
      cmd heading: 237.337435 deg,
      new cmd heading: 237.307745 deg.

2025-09-20T00:06:24.919Z,1758326784.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141801 target range: 39.295231 and range: 39.40 m.
2025-09-20T00:06:25.277Z,1758326785.277 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-09-20T00:06:25.278Z,1758326785.278 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T00:06:25.278Z,1758326785.278 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-09-20T00:06:25.279Z,1758326785.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.400002 m (mode  2.000000 count ).
2025-09-20T00:06:25.279Z,1758326785.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-09-20T00:06:25.279Z,1758326785.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-09-20T00:06:25.287Z,1758326785.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:25.311Z,1758326785.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-09-20T00:06:25.338Z,1758326785.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.295231 m,
      nav range: 38.608265 m,
      bearing: 254.313658 deg,
      approach rate: -0.385587 m/s,
      LOS rate: -0.028101 deg/s,
      cmd heading: 237.307737 deg,
      new cmd heading: 237.285315 deg.

2025-09-20T00:06:25.347Z,1758326785.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141410 target range: 39.295231 and range: 39.40 m.
2025-09-20T00:06:25.465Z,1758326785.465 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:25.466Z,1758326785.466 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:25.466Z,1758326785.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:06:25.717Z,1758326785.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247328
2025-09-20T00:06:25.767Z,1758326785.767 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-09-20T00:06:25.767Z,1758326785.767 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-09-20T00:06:25.773Z,1758326785.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-09-20T00:06:25.779Z,1758326785.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.295231 m,
      nav range: 38.397484 m,
      bearing: 254.301779 deg,
      approach rate: -0.455002 m/s,
      LOS rate: -0.025783 deg/s,
      cmd heading: 237.285307 deg,
      new cmd heading: 237.261419 deg.

2025-09-20T00:06:25.785Z,1758326785.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140993 target range: 39.295231 and range: 39.40 m.
2025-09-20T00:06:25.969Z,1758326785.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499195
2025-09-20T00:06:26.147Z,1758326786.147 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-09-20T00:06:26.147Z,1758326786.147 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-09-20T00:06:26.150Z,1758326786.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-09-20T00:06:26.169Z,1758326786.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.295231 m,
      nav range: 38.232872 m,
      bearing: 254.292422 deg,
      approach rate: -0.437517 m/s,
      LOS rate: -0.024977 deg/s,
      cmd heading: 237.261429 deg,
      new cmd heading: 237.242634 deg.

2025-09-20T00:06:26.170Z,1758326786.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140665 target range: 39.295231 and range: 39.40 m.
2025-09-20T00:06:26.221Z,1758326786.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751455
2025-09-20T00:06:26.452Z,1758326786.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:06:26.473Z,1758326786.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003315
2025-09-20T00:06:26.566Z,1758326786.566 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-09-20T00:06:26.566Z,1758326786.566 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T00:06:26.566Z,1758326786.566 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-09-20T00:06:26.567Z,1758326786.567 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T00:06:26.569Z,1758326786.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-09-20T00:06:26.572Z,1758326786.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.295231 m,
      nav range: 38.057686 m,
      bearing: 254.283572 deg,
      approach rate: -0.417797 m/s,
      LOS rate: -0.021204 deg/s,
      cmd heading: 237.242632 deg,
      new cmd heading: 237.224850 deg.

2025-09-20T00:06:26.573Z,1758326786.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140355 target range: 39.295231 and range: 39.40 m.
2025-09-20T00:06:26.725Z,1758326786.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255722
2025-09-20T00:06:26.948Z,1758326786.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-09-20T00:06:26.951Z,1758326786.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.295231 m,
      nav range: 37.910538 m,
      bearing: 254.275998 deg,
      approach rate: -0.392401 m/s,
      LOS rate: -0.020276 deg/s,
      cmd heading: 237.224846 deg,
      new cmd heading: 237.209640 deg.

2025-09-20T00:06:26.956Z,1758326786.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140089 target range: 39.295231 and range: 39.40 m.
2025-09-20T00:06:26.977Z,1758326786.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507597
2025-09-20T00:06:27.230Z,1758326787.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760170
2025-09-20T00:06:27.380Z,1758326787.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:27.396Z,1758326787.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-09-20T00:06:27.399Z,1758326787.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.295231 m,
      nav range: 37.740410 m,
      bearing: 254.267172 deg,
      approach rate: -0.380207 m/s,
      LOS rate: -0.019814 deg/s,
      cmd heading: 237.209629 deg,
      new cmd heading: 237.191896 deg.

2025-09-20T00:06:27.404Z,1758326787.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139780 target range: 39.295231 and range: 39.40 m.
2025-09-20T00:06:27.457Z,1758326787.457 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:06:27.481Z,1758326787.481 [DAT](INFO): DAT read: Rx Time:00:06:28.2653

2025-09-20T00:06:27.482Z,1758326787.482 [DAT](INFO): Rx dataTimestamp_ set to:1758326787.481260
2025-09-20T00:06:27.482Z,1758326787.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012492
2025-09-20T00:06:27.733Z,1758326787.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263866
2025-09-20T00:06:27.799Z,1758326787.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.30 m.
2025-09-20T00:06:27.802Z,1758326787.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.295231 m,
      nav range: 37.545231 m,
      bearing: 254.257315 deg,
      approach rate: -0.478344 m/s,
      LOS rate: -0.024282 deg/s,
      cmd heading: 237.191897 deg,
      new cmd heading: 237.172081 deg.

2025-09-20T00:06:27.803Z,1758326787.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139434 target range: 39.295231 and range: 39.40 m.
2025-09-20T00:06:27.990Z,1758326787.990 [DAT](INFO): DAT read: 00:06:28.2653 LVL= 25728, 32305, 26450, 32755, AGC= 64, IDX= 420, 0.43,-0.480,-2.505,-0.846,-0.937, PHS= 0.559,-1.523, 0.047, RAW= 136.3,   9.8, CAL= 136.0,  10.8, ROT=  14.0, -10.8

2025-09-20T00:06:27.991Z,1758326787.991 [DAT](INFO): got valid direction response:
 00:06:28.2653 LVL= 25728, 32305, 26450, 32755, AGC= 64, IDX= 420, 0.43,-0.480,-2.505,-0.846,-0.937, PHS= 0.559,-1.523, 0.047, RAW= 136.3,   9.8, CAL= 136.0,  10.8, ROT=  14.0, -10.8

2025-09-20T00:06:27.996Z,1758326787.996 [DAT](INFO): DAT read: Bearing  25.5,  11.7 (Local)

2025-09-20T00:06:27.996Z,1758326787.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.5,  11.7 (Local)

2025-09-20T00:06:27.998Z,1758326787.998 [DAT](INFO): DAT read: Range 11 to 50 : 38.0 m  (Round-trip  50.7 ms) speed  0.3 m/s

2025-09-20T00:06:27.999Z,1758326787.999 [DAT](INFO): DAT read: user:740>

2025-09-20T00:06:27.999Z,1758326787.999 [DAT](INFO): DAT read: Tx time:00:06:29.3604

2025-09-20T00:06:27.999Z,1758326787.999 [DAT](INFO): Ping request sent.
2025-09-20T00:06:28.012Z,1758326788.012 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:28.012Z,1758326788.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:28.013Z,1758326788.013 [DAT](INFO): direction in FSK: [0.953109,0.237637,0.187381]
2025-09-20T00:06:28.014Z,1758326788.014 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:28.014Z,1758326788.014 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:28.021Z,1758326788.021 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:28.021Z,1758326788.021 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:28.201Z,1758326788.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.000000 m,
      deltaT: 3.527541 s,
      deltaX: -1.400002 m,
      approachRate: -0.396877 m/s,
      rangeRepo size: 4

2025-09-20T00:06:28.203Z,1758326788.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.899017 m,
      bearing: 254.048517 deg,
      lat: 36.779427 deg,
      lon: -121.859739 deg,
      deltaT: 3.527541 s,
      deltaX: -1.396214 m,
      approachRate: -0.395804 m/s,
      posRepo size: 4

2025-09-20T00:06:28.204Z,1758326788.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-09-20T00:06:28.207Z,1758326788.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.899017 m,
      nav range: 37.398106 m,
      bearing: 254.147368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024282 deg/s,
      cmd heading: 237.172090 deg,
      new cmd heading: 237.152598 deg.

2025-09-20T00:06:28.208Z,1758326788.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139094 target range: 37.899017 and range: 38.00 m.
2025-09-20T00:06:28.623Z,1758326788.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-09-20T00:06:28.630Z,1758326788.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.899017 m,
      nav range: 37.220715 m,
      bearing: 254.135454 deg,
      approach rate: -0.419747 m/s,
      LOS rate: -0.028326 deg/s,
      cmd heading: 237.152610 deg,
      new cmd heading: 237.128668 deg.

2025-09-20T00:06:28.631Z,1758326788.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138676 target range: 37.899017 and range: 38.00 m.
2025-09-20T00:06:28.997Z,1758326788.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-09-20T00:06:28.000Z,1758326789.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.899017 m,
      nav range: 37.054520 m,
      bearing: 254.124278 deg,
      approach rate: -0.445118 m/s,
      LOS rate: -0.030069 deg/s,
      cmd heading: 237.128677 deg,
      new cmd heading: 237.106223 deg.

2025-09-20T00:06:29.001Z,1758326789.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138284 target range: 37.899017 and range: 38.00 m.
2025-09-20T00:06:29.473Z,1758326789.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:29.475Z,1758326789.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-09-20T00:06:29.478Z,1758326789.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.899017 m,
      nav range: 36.839756 m,
      bearing: 254.107448 deg,
      approach rate: -0.448997 m/s,
      LOS rate: -0.035389 deg/s,
      cmd heading: 237.106219 deg,
      new cmd heading: 237.072365 deg.

2025-09-20T00:06:29.479Z,1758326789.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137693 target range: 37.899017 and range: 38.00 m.
2025-09-20T00:06:29.498Z,1758326789.498 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:06:29.498Z,1758326789.498 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:06:29.498Z,1758326789.498 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:06:29.749Z,1758326789.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749752
2025-09-20T00:06:29.809Z,1758326789.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-09-20T00:06:29.812Z,1758326789.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.899017 m,
      nav range: 36.689800 m,
      bearing: 254.095773 deg,
      approach rate: -0.448715 m/s,
      LOS rate: -0.035079 deg/s,
      cmd heading: 237.072369 deg,
      new cmd heading: 237.048923 deg.

2025-09-20T00:06:29.813Z,1758326789.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137284 target range: 37.899017 and range: 38.00 m.
2025-09-20T00:06:30.002Z,1758326790.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002272
2025-09-20T00:06:30.204Z,1758326790.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-09-20T00:06:30.207Z,1758326790.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.899017 m,
      nav range: 36.512848 m,
      bearing: 254.082126 deg,
      approach rate: -0.448204 m/s,
      LOS rate: -0.034733 deg/s,
      cmd heading: 237.048928 deg,
      new cmd heading: 237.021502 deg.

2025-09-20T00:06:30.224Z,1758326790.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136806 target range: 37.899017 and range: 38.00 m.
2025-09-20T00:06:30.253Z,1758326790.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253480
2025-09-20T00:06:30.505Z,1758326790.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505483
2025-09-20T00:06:30.742Z,1758326790.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-09-20T00:06:30.746Z,1758326790.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.899017 m,
      nav range: 36.273785 m,
      bearing: 254.047758 deg,
      approach rate: -0.445144 m/s,
      LOS rate: -0.064416 deg/s,
      cmd heading: 237.021498 deg,
      new cmd heading: 236.952309 deg.

2025-09-20T00:06:30.748Z,1758326790.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135598 target range: 37.899017 and range: 38.00 m.
2025-09-20T00:06:30.758Z,1758326790.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758090
2025-09-20T00:06:31.009Z,1758326791.009 [DAT](INFO): DAT read: Rx Time:00:06:31.8132

2025-09-20T00:06:31.009Z,1758326791.009 [DAT](INFO): Rx dataTimestamp_ set to:1758326791.009045
2025-09-20T00:06:31.010Z,1758326791.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010218
2025-09-20T00:06:31.229Z,1758326791.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-09-20T00:06:31.231Z,1758326791.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.899017 m,
      nav range: 36.052933 m,
      bearing: 254.016109 deg,
      approach rate: -0.453059 m/s,
      LOS rate: -0.065323 deg/s,
      cmd heading: 236.952322 deg,
      new cmd heading: 236.888636 deg.

2025-09-20T00:06:31.233Z,1758326791.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134487 target range: 37.899017 and range: 38.00 m.
2025-09-20T00:06:31.261Z,1758326791.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261197
2025-09-20T00:06:31.518Z,1758326791.518 [DAT](INFO): DAT read: 00:06:31.8132 LVL= 22304, 29537, 23906, 32755, AGC= 62, IDX= 416,-0.14,-2.621, 1.713,-2.975,-3.045, PHS= 0.526,-1.481, 0.026, RAW= 136.1,  10.3, CAL= 135.7,  11.3, ROT=  14.3, -11.3

2025-09-20T00:06:31.520Z,1758326791.520 [DAT](INFO): got valid direction response:
 00:06:31.8132 LVL= 22304, 29537, 23906, 32755, AGC= 62, IDX= 416,-0.14,-2.621, 1.713,-2.975,-3.045, PHS= 0.526,-1.481, 0.026, RAW= 136.1,  10.3, CAL= 135.7,  11.3, ROT=  14.3, -11.3

2025-09-20T00:06:31.521Z,1758326791.521 [DAT](INFO): DAT read: Bearing  25.8,  12.1 (Local)

2025-09-20T00:06:31.521Z,1758326791.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.8,  12.1 (Local)

2025-09-20T00:06:31.522Z,1758326791.522 [DAT](INFO): DAT read: Range 11 to 50 : 36.5 m  (Round-trip  48.7 ms) speed  0.4 m/s

2025-09-20T00:06:31.523Z,1758326791.523 [DAT](INFO): DAT read: user:741>

2025-09-20T00:06:31.524Z,1758326791.524 [DAT](INFO): DAT read: Tx time:00:06:32.9104

2025-09-20T00:06:31.524Z,1758326791.524 [DAT](INFO): Ping request sent.
2025-09-20T00:06:31.524Z,1758326791.524 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:06:31.524Z,1758326791.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:06:31.525Z,1758326791.525 [DAT](INFO): direction in FSK: [0.950231,0.242211,0.195946]
2025-09-20T00:06:31.526Z,1758326791.526 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:31.526Z,1758326791.526 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:31.534Z,1758326791.534 [DAT](INFO): publishing transmit ping time
2025-09-20T00:06:31.534Z,1758326791.534 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:31.538Z,1758326791.538 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.014068
2025-09-20T00:06:31.737Z,1758326791.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.500000 m,
      deltaT: 3.528008 s,
      deltaX: -1.500000 m,
      approachRate: -0.425169 m/s,
      rangeRepo size: 4

2025-09-20T00:06:31.741Z,1758326791.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.403011 m,
      bearing: 253.951233 deg,
      lat: 36.779426 deg,
      lon: -121.859739 deg,
      deltaT: 3.528008 s,
      deltaX: -1.496006 m,
      approachRate: -0.424037 m/s,
      posRepo size: 4

2025-09-20T00:06:31.742Z,1758326791.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.40 m.
2025-09-20T00:06:31.758Z,1758326791.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.403011 m,
      nav range: 35.876499 m,
      bearing: 253.941212 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.065323 deg/s,
      cmd heading: 236.888637 deg,
      new cmd heading: 236.823468 deg.

2025-09-20T00:06:31.759Z,1758326791.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133349 target range: 36.403011 and range: 36.50 m.
2025-09-20T00:06:31.765Z,1758326791.765 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.240783
2025-09-20T00:06:32.017Z,1758326792.017 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492964
2025-09-20T00:06:32.080Z,1758326792.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:32.082Z,1758326792.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.40 m.
2025-09-20T00:06:32.089Z,1758326792.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.403011 m,
      nav range: 35.709690 m,
      bearing: 253.921534 deg,
      approach rate: -0.469939 m/s,
      LOS rate: -0.055695 deg/s,
      cmd heading: 236.823477 deg,
      new cmd heading: 236.783938 deg.

2025-09-20T00:06:32.090Z,1758326792.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132659 target range: 36.403011 and range: 36.50 m.
2025-09-20T00:06:32.269Z,1758326792.269 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744779
2025-09-20T00:06:32.506Z,1758326792.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.40 m.
2025-09-20T00:06:32.509Z,1758326792.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.403011 m,
      nav range: 35.508965 m,
      bearing: 253.895644 deg,
      approach rate: -0.473511 m/s,
      LOS rate: -0.061420 deg/s,
      cmd heading: 236.783944 deg,
      new cmd heading: 236.731871 deg.

2025-09-20T00:06:32.510Z,1758326792.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131751 target range: 36.403011 and range: 36.50 m.
2025-09-20T00:06:32.521Z,1758326792.521 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.996798
2025-09-20T00:06:32.773Z,1758326792.773 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248995
2025-09-20T00:06:32.876Z,1758326792.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.40 m.
2025-09-20T00:06:32.879Z,1758326792.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.403011 m,
      nav range: 35.340519 m,
      bearing: 253.873988 deg,
      approach rate: -0.455948 m/s,
      LOS rate: -0.058899 deg/s,
      cmd heading: 236.731870 deg,
      new cmd heading: 236.688351 deg.

2025-09-20T00:06:32.880Z,1758326792.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130991 target range: 36.403011 and range: 36.50 m.
2025-09-20T00:06:33.025Z,1758326793.025 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500812
2025-09-20T00:06:33.277Z,1758326793.277 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.752800
2025-09-20T00:06:33.281Z,1758326793.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.40 m.
2025-09-20T00:06:33.285Z,1758326793.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.403011 m,
      nav range: 35.156334 m,
      bearing: 253.850380 deg,
      approach rate: -0.454127 m/s,
      LOS rate: -0.058514 deg/s,
      cmd heading: 236.688348 deg,
      new cmd heading: 236.640884 deg.

2025-09-20T00:06:33.286Z,1758326793.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130163 target range: 36.403011 and range: 36.50 m.
2025-09-20T00:06:33.529Z,1758326793.529 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.004702
2025-09-20T00:06:33.705Z,1758326793.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.40 m.
2025-09-20T00:06:33.709Z,1758326793.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.403011 m,
      nav range: 34.967121 m,
      bearing: 253.833717 deg,
      approach rate: -0.446492 m/s,
      LOS rate: -0.039533 deg/s,
      cmd heading: 236.640892 deg,
      new cmd heading: 236.607386 deg.

2025-09-20T00:06:33.710Z,1758326793.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129578 target range: 36.403011 and range: 36.50 m.
2025-09-20T00:06:33.782Z,1758326793.782 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.257264
2025-09-20T00:06:34.033Z,1758326794.033 [DAT](INFO): DAT read: Rx Time:00:06:35.0861 

2025-09-20T00:06:34.034Z,1758326794.034 [DAT](INFO): Rx dataTimestamp_ set to:1758326794.033561
2025-09-20T00:06:34.035Z,1758326794.035 [DAT](INFO): DAT read: Bearing  25.1,  12.2 (Local)

2025-09-20T00:06:34.035Z,1758326794.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.1,  12.2 (Local)

2025-09-20T00:06:34.038Z,1758326794.038 [DAT](INFO): DAT read: Range 11 to 50 :    35.0 m (trip time 23.3 ms) speed 0.3

2025-09-20T00:06:34.042Z,1758326794.042 [DAT](INFO): DAT read: 00:06:35.0861 LVL= 25712, 28817, 26274, 32163, AGC= 65, IDX= 170,-0.14, 1.156,-0.821, 0.803, 0.723, PHS= 0.536,-1.498, 0.037, RAW= 136.4,  10.1, CAL= 136.0,  11.1, ROT=  14.0, -11.1

2025-09-20T00:06:34.043Z,1758326794.043 [DAT](INFO): got valid direction response:
 00:06:35.0861 LVL= 25712, 28817, 26274, 32163, AGC= 65, IDX= 170,-0.14, 1.156,-0.821, 0.803, 0.723, PHS= 0.536,-1.498, 0.037, RAW= 136.4,  10.1, CAL= 136.0,  11.1, ROT=  14.0, -11.1

2025-09-20T00:06:34.043Z,1758326794.043 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-20T00:06:34.048Z,1758326794.048 [DAT](INFO): direction in FSK: [0.952144,0.237396,0.192522]
2025-09-20T00:06:34.049Z,1758326794.049 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:34.052Z,1758326794.052 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.528120
2025-09-20T00:06:34.165Z,1758326794.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.000000 m,
      deltaT: 2.521254 s,
      deltaX: -1.500000 m,
      approachRate: -0.594942 m/s,
      rangeRepo size: 4

2025-09-20T00:06:34.167Z,1758326794.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.906963 m,
      bearing: 253.320504 deg,
      lat: 36.779426 deg,
      lon: -121.859739 deg,
      deltaT: 2.521254 s,
      deltaX: -1.496048 m,
      approachRate: -0.593375 m/s,
      posRepo size: 4

2025-09-20T00:06:34.179Z,1758326794.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-09-20T00:06:34.183Z,1758326794.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.906963 m,
      nav range: 34.784515 m,
      bearing: 253.760573 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039533 deg/s,
      cmd heading: 236.607397 deg,
      new cmd heading: 236.571068 deg.

2025-09-20T00:06:34.183Z,1758326794.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128944 target range: 34.906963 and range: 35.00 m.
2025-09-20T00:06:34.285Z,1758326794.285 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.761110
2025-09-20T00:06:34.538Z,1758326794.538 [DAT](INFO): DAT read: Rx Time:00:06:35.5859 

2025-09-20T00:06:34.538Z,1758326794.538 [DAT](INFO): Rx dataTimestamp_ set to:1758326794.537762
2025-09-20T00:06:34.539Z,1758326794.539 [DAT](INFO): DAT read: Bearing  24.7,  12.7 (Local)

2025-09-20T00:06:34.540Z,1758326794.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.7,  12.7 (Local)

2025-09-20T00:06:34.542Z,1758326794.542 [DAT](INFO): DAT read: Range 11 to 50 :    34.7 m (trip time 23.1 ms) speed 0.3

2025-09-20T00:06:34.546Z,1758326794.546 [DAT](INFO): DAT read: 00:06:35.5859 LVL= 20800, 32753, 25138, 32755, AGC= 60, IDX= 504,-0.28,-1.499, 2.870,-1.849,-1.931, PHS= 0.534,-1.438, 0.038, RAW= 136.0,   9.8, CAL= 135.7,  10.8, ROT=  14.3, -10.8

2025-09-20T00:06:34.549Z,1758326794.549 [DAT](INFO): got valid direction response:
 00:06:35.5859 LVL= 20800, 32753, 25138, 32755, AGC= 60, IDX= 504,-0.28,-1.499, 2.870,-1.849,-1.931, PHS= 0.534,-1.438, 0.038, RAW= 136.0,   9.8, CAL= 135.7,  10.8, ROT=  14.3, -10.8

2025-09-20T00:06:34.550Z,1758326794.550 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-09-20T00:06:34.560Z,1758326794.560 [DAT](INFO): direction in FSK: [0.951852,0.242624,0.187381]
2025-09-20T00:06:34.560Z,1758326794.560 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:34.588Z,1758326794.588 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.039485
2025-09-20T00:06:34.681Z,1758326794.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.700001 m,
      deltaT: 0.504201 s,
      deltaX: -0.299999 m,
      approachRate: -0.594999 m/s,
      rangeRepo size: 4

2025-09-20T00:06:34.683Z,1758326794.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.607761 m,
      bearing: 253.582999 deg,
      lat: 36.779426 deg,
      lon: -121.859738 deg,
      deltaT: 0.504201 s,
      deltaX: -0.299202 m,
      approachRate: -0.593418 m/s,
      posRepo size: 4

2025-09-20T00:06:34.688Z,1758326794.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.61 m.
2025-09-20T00:06:34.691Z,1758326794.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.607761 m,
      nav range: 34.456684 m,
      bearing: 253.702630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039533 deg/s,
      cmd heading: 236.571060 deg,
      new cmd heading: 236.530644 deg.

2025-09-20T00:06:34.696Z,1758326794.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128239 target range: 34.607761 and range: 34.70 m.
2025-09-20T00:06:34.790Z,1758326794.790 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.265079
2025-09-20T00:06:35.042Z,1758326795.042 [DAT](INFO): DAT read: Rx Time:00:06:36.0857 

2025-09-20T00:06:35.042Z,1758326795.042 [DAT](INFO): Rx dataTimestamp_ set to:1758326795.041766
2025-09-20T00:06:35.043Z,1758326795.043 [DAT](INFO): DAT read: Bearing  25.1,  12.5 (Local)

2025-09-20T00:06:35.044Z,1758326795.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.1,  12.5 (Local)

2025-09-20T00:06:35.046Z,1758326795.046 [DAT](INFO): DAT read: Range 11 to 50 :    34.4 m (trip time 22.9 ms) speed 0.3

2025-09-20T00:06:35.050Z,1758326795.050 [DAT](INFO): DAT read: 00:06:36.0857 LVL= 25216, 32113, 26930, 32755, AGC= 61, IDX= 501, 0.45,-1.703, 2.649,-2.048,-2.121, PHS= 0.519,-1.469, 0.029, RAW= 136.3,  10.3, CAL= 135.9,  11.3, ROT=  14.1, -11.3

2025-09-20T00:06:35.051Z,1758326795.051 [DAT](INFO): got valid direction response:
 00:06:36.0857 LVL= 25216, 32113, 26930, 32755, AGC= 61, IDX= 501, 0.45,-1.703, 2.649,-2.048,-2.121, PHS= 0.519,-1.469, 0.029, RAW= 136.3,  10.3, CAL= 135.9,  11.3, ROT=  14.1, -11.3

2025-09-20T00:06:35.052Z,1758326795.052 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-09-20T00:06:35.053Z,1758326795.053 [DAT](INFO): direction in FSK: [0.951071,0.238892,0.195946]
2025-09-20T00:06:35.053Z,1758326795.053 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:35.056Z,1758326795.056 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.532305
2025-09-20T00:06:35.157Z,1758326795.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.504004 s,
      deltaX: -0.299999 m,
      approachRate: -0.595232 m/s,
      rangeRepo size: 4

2025-09-20T00:06:35.159Z,1758326795.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.308548 m,
      bearing: 253.397692 deg,
      lat: 36.779426 deg,
      lon: -121.859734 deg,
      deltaT: 0.504004 s,
      deltaX: -0.299213 m,
      approachRate: -0.593673 m/s,
      posRepo size: 4

2025-09-20T00:06:35.164Z,1758326795.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.31 m.
2025-09-20T00:06:35.167Z,1758326795.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.308548 m,
      nav range: 33.927647 m,
      bearing: 253.540844 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039533 deg/s,
      cmd heading: 236.530653 deg,
      new cmd heading: 236.492629 deg.

2025-09-20T00:06:35.172Z,1758326795.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127575 target range: 34.308548 and range: 34.40 m.
2025-09-20T00:06:35.293Z,1758326795.293 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.768953
2025-09-20T00:06:35.545Z,1758326795.545 [DAT](INFO): DAT read: Rx Time:00:06:36.5857 

2025-09-20T00:06:35.546Z,1758326795.546 [DAT](INFO): Rx dataTimestamp_ set to:1758326795.545677
2025-09-20T00:06:35.547Z,1758326795.547 [DAT](INFO): DAT read: Bearing  25.1,  12.3 (Local)

2025-09-20T00:06:35.548Z,1758326795.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.1,  12.3 (Local)

2025-09-20T00:06:35.550Z,1758326795.550 [DAT](INFO): DAT read: Range 11 to 50 :    34.4 m (trip time 22.9 ms) speed 0.3

2025-09-20T00:06:35.554Z,1758326795.554 [DAT](INFO): DAT read: 00:06:36.5857 LVL= 26912, 32113, 29586, 32755, AGC= 62, IDX= 501, 0.17, 0.589,-1.368, 0.245, 0.169, PHS= 0.521,-1.492, 0.032, RAW= 136.5,  10.3, CAL= 136.1,  11.4, ROT=  13.9, -11.4

2025-09-20T00:06:35.555Z,1758326795.555 [DAT](INFO): got valid direction response:
 00:06:36.5857 LVL= 26912, 32113, 29586, 32755, AGC= 62, IDX= 501, 0.17, 0.589,-1.368, 0.245, 0.169, PHS= 0.521,-1.492, 0.032, RAW= 136.5,  10.3, CAL= 136.1,  11.4, ROT=  13.9, -11.4

2025-09-20T00:06:35.556Z,1758326795.556 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-09-20T00:06:35.557Z,1758326795.557 [DAT](INFO): direction in FSK: [0.951565,0.235489,0.197657]
2025-09-20T00:06:35.557Z,1758326795.557 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:35.565Z,1758326795.565 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.040581
2025-09-20T00:06:35.637Z,1758326795.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.503911 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:35.639Z,1758326795.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.308548 m,
      bearing: 253.116931 deg,
      lat: 36.779426 deg,
      lon: -121.859734 deg,
      deltaT: 0.503911 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:06:35.639Z,1758326795.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.31 m.
2025-09-20T00:06:35.654Z,1758326795.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.308548 m,
      nav range: 33.739933 m,
      bearing: 253.466581 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039533 deg/s,
      cmd heading: 236.492623 deg,
      new cmd heading: 236.456366 deg.

2025-09-20T00:06:35.655Z,1758326795.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126942 target range: 34.308548 and range: 34.40 m.
2025-09-20T00:06:35.797Z,1758326795.797 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.272726
2025-09-20T00:06:36.039Z,1758326796.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:36.041Z,1758326796.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.31 m.
2025-09-20T00:06:36.044Z,1758326796.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.308548 m,
      nav range: 33.542183 m,
      bearing: 253.465528 deg,
      approach rate: -0.464248 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.456368 deg,
      new cmd heading: 236.454250 deg.

2025-09-20T00:06:36.045Z,1758326796.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126905 target range: 34.308548 and range: 34.40 m.
2025-09-20T00:06:36.050Z,1758326796.050 [DAT](INFO): DAT read: Rx Time:00:06:37.0855 

2025-09-20T00:06:36.050Z,1758326796.050 [DAT](INFO): Rx dataTimestamp_ set to:1758326796.049846
2025-09-20T00:06:36.051Z,1758326796.051 [DAT](INFO): DAT read: Bearing  25.0,  12.2 (Local)

2025-09-20T00:06:36.052Z,1758326796.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.0,  12.2 (Local)

2025-09-20T00:06:36.054Z,1758326796.054 [DAT](INFO): DAT read: Range 11 to 50 :    34.1 m (trip time 22.7 ms) speed 0.3

2025-09-20T00:06:36.059Z,1758326796.059 [DAT](INFO): DAT read: 00:06:37.0855 LVL= 27568, 26865, 29682, 32755, AGC= 63, IDX= 499,-0.03,-1.365, 2.945,-1.706,-1.787, PHS= 0.524,-1.506, 0.037, RAW= 136.7,  10.3, CAL= 136.3,  11.4, ROT=  13.7, -11.4

2025-09-20T00:06:36.060Z,1758326796.060 [DAT](INFO): got valid direction response:
 00:06:37.0855 LVL= 27568, 26865, 29682, 32755, AGC= 63, IDX= 499,-0.03,-1.365, 2.945,-1.706,-1.787, PHS= 0.524,-1.506, 0.037, RAW= 136.7,  10.3, CAL= 136.3,  11.4, ROT=  13.7, -11.4

2025-09-20T00:06:36.060Z,1758326796.060 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-09-20T00:06:36.061Z,1758326796.061 [DAT](INFO): direction in FSK: [0.952382,0.232166,0.197657]
2025-09-20T00:06:36.061Z,1758326796.061 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:36.065Z,1758326796.065 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.540923
2025-09-20T00:06:36.301Z,1758326796.301 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.776768
2025-09-20T00:06:36.424Z,1758326796.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.099998 m,
      deltaT: 0.504169 s,
      deltaX: -0.300003 m,
      approachRate: -0.595045 m/s,
      rangeRepo size: 4

2025-09-20T00:06:36.426Z,1758326796.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.009411 m,
      bearing: 252.871853 deg,
      lat: 36.779425 deg,
      lon: -121.859734 deg,
      deltaT: 0.504169 s,
      deltaX: -0.299137 m,
      approachRate: -0.593327 m/s,
      posRepo size: 4

2025-09-20T00:06:36.427Z,1758326796.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-09-20T00:06:36.430Z,1758326796.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009411 m,
      nav range: 33.390636 m,
      bearing: 253.282452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.454237 deg,
      new cmd heading: 236.452336 deg.

2025-09-20T00:06:36.431Z,1758326796.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126872 target range: 34.009411 and range: 34.10 m.
2025-09-20T00:06:36.557Z,1758326796.557 [DAT](INFO): DAT read: Rx Time:00:06:37.5854 

2025-09-20T00:06:36.558Z,1758326796.558 [DAT](INFO): Rx dataTimestamp_ set to:1758326796.557595
2025-09-20T00:06:36.564Z,1758326796.564 [DAT](INFO): DAT read: Bearing  25.1,  12.2 (Local)

2025-09-20T00:06:36.566Z,1758326796.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.1,  12.2 (Local)

2025-09-20T00:06:36.581Z,1758326796.581 [DAT](INFO): DAT read: Range 11 to 50 :    33.9 m (trip time 22.6 ms) speed 0.3

2025-09-20T00:06:36.639Z,1758326796.639 [DAT](INFO): DAT read: 00:06:37.5854 LVL= 27024, 31153, 27186, 32707, AGC= 63, IDX= 499,-0.18,-0.726,-2.709,-1.063,-1.146, PHS= 0.522,-1.518, 0.039, RAW= 136.9,  10.4, CAL= 136.4,  11.4, ROT=  13.6, -11.4

2025-09-20T00:06:36.649Z,1758326796.649 [DAT](INFO): got valid direction response:
 00:06:37.5854 LVL= 27024, 31153, 27186, 32707, AGC= 63, IDX= 499,-0.18,-0.726,-2.709,-1.063,-1.146, PHS= 0.522,-1.518, 0.039, RAW= 136.9,  10.4, CAL= 136.4,  11.4, ROT=  13.6, -11.4

2025-09-20T00:06:36.649Z,1758326796.649 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-09-20T00:06:36.650Z,1758326796.650 [DAT](INFO): direction in FSK: [0.952785,0.230503,0.197657]
2025-09-20T00:06:36.650Z,1758326796.650 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:36.662Z,1758326796.662 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.137889
2025-09-20T00:06:36.805Z,1758326796.805 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.280920
2025-09-20T00:06:36.934Z,1758326796.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 0.507749 s,
      deltaX: -0.199997 m,
      approachRate: -0.393889 m/s,
      rangeRepo size: 4

2025-09-20T00:06:36.950Z,1758326796.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.809917 m,
      bearing: 252.803403 deg,
      lat: 36.779424 deg,
      lon: -121.859734 deg,
      deltaT: 0.507749 s,
      deltaX: -0.199493 m,
      approachRate: -0.392898 m/s,
      posRepo size: 4

2025-09-20T00:06:36.962Z,1758326796.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.81 m.
2025-09-20T00:06:36.987Z,1758326796.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.809917 m,
      nav range: 33.209644 m,
      bearing: 253.098285 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.452324 deg,
      new cmd heading: 236.449787 deg.

2025-09-20T00:06:37.000Z,1758326797.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126827 target range: 33.809917 and range: 33.90 m.
2025-09-20T00:06:37.059Z,1758326797.059 [DAT](INFO): DAT read: Rx Time:00:06:38.0852 

2025-09-20T00:06:37.060Z,1758326797.060 [DAT](INFO): Rx dataTimestamp_ set to:1758326797.059339
2025-09-20T00:06:37.062Z,1758326797.062 [DAT](INFO): DAT read: Bearing  25.0,  12.1 (Local)

2025-09-20T00:06:37.062Z,1758326797.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.0,  12.1 (Local)

2025-09-20T00:06:37.066Z,1758326797.066 [DAT](INFO): DAT read: Range 11 to 50 :    33.6 m (trip time 22.4 ms) speed 0.3

2025-09-20T00:06:37.072Z,1758326797.072 [DAT](INFO): DAT read: 00:06:38.0852 LVL= 28192, 31201, 29682, 32755, AGC= 63, IDX= 497,-0.33,-1.593, 2.715,-1.925,-2.011, PHS= 0.519,-1.513, 0.041, RAW= 137.0,  10.4, CAL= 136.6,  11.4, ROT=  13.4, -11.4

2025-09-20T00:06:37.073Z,1758326797.073 [DAT](INFO): got valid direction response:
 00:06:38.0852 LVL= 28192, 31201, 29682, 32755, AGC= 63, IDX= 497,-0.33,-1.593, 2.715,-1.925,-2.011, PHS= 0.519,-1.513, 0.041, RAW= 137.0,  10.4, CAL= 136.6,  11.4, ROT=  13.4, -11.4

2025-09-20T00:06:37.074Z,1758326797.074 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-09-20T00:06:37.075Z,1758326797.075 [DAT](INFO): direction in FSK: [0.953584,0.227176,0.197657]
2025-09-20T00:06:37.075Z,1758326797.075 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:37.079Z,1758326797.079 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.554400
2025-09-20T00:06:37.309Z,1758326797.309 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.784896
2025-09-20T00:06:37.390Z,1758326797.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.599998 m,
      deltaT: 0.501744 s,
      deltaX: -0.300003 m,
      approachRate: -0.597921 m/s,
      rangeRepo size: 4

2025-09-20T00:06:37.392Z,1758326797.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.510712 m,
      bearing: 252.579450 deg,
      lat: 36.779423 deg,
      lon: -121.859734 deg,
      deltaT: 0.501744 s,
      deltaX: -0.299206 m,
      approachRate: -0.596332 m/s,
      posRepo size: 4

2025-09-20T00:06:37.396Z,1758326797.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.51 m.
2025-09-20T00:06:37.399Z,1758326797.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.510712 m,
      nav range: 33.058407 m,
      bearing: 252.830857 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.449784 deg,
      new cmd heading: 236.447520 deg.

2025-09-20T00:06:37.404Z,1758326797.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126788 target range: 33.510712 and range: 33.60 m.
2025-09-20T00:06:37.563Z,1758326797.563 [DAT](INFO): DAT read: Rx Time:00:06:38.5852 

2025-09-20T00:06:37.563Z,1758326797.563 [DAT](INFO): Rx dataTimestamp_ set to:1758326797.563100
2025-09-20T00:06:37.565Z,1758326797.565 [DAT](INFO): DAT read: Bearing  35.4,   6.7 (Local)

2025-09-20T00:06:37.566Z,1758326797.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.4,   6.7 (Local)

2025-09-20T00:06:37.569Z,1758326797.569 [DAT](INFO): DAT read: Range 11 to 50 :    33.6 m (trip time 22.4 ms) speed 0.3

2025-09-20T00:06:37.576Z,1758326797.576 [DAT](INFO): DAT read: 00:06:38.5852 LVL= 27888, 31505, 30962, 32755, AGC= 62, IDX= 512, 0.39, 1.339,-0.761, 1.140, 1.278, PHS= 0.162,-1.994,-0.182, RAW= 141.5,  19.5, CAL= 141.4,  22.1, ROT=   8.6, -22.1

2025-09-20T00:06:37.581Z,1758326797.581 [DAT](INFO): got valid direction response:
 00:06:38.5852 LVL= 27888, 31505, 30962, 32755, AGC= 62, IDX= 512, 0.39, 1.339,-0.761, 1.140, 1.278, PHS= 0.162,-1.994,-0.182, RAW= 141.5,  19.5, CAL= 141.4,  22.1, ROT=   8.6, -22.1

2025-09-20T00:06:37.582Z,1758326797.582 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-09-20T00:06:37.582Z,1758326797.582 [DAT](INFO): direction in FSK: [0.916111,0.138549,0.376224]
2025-09-20T00:06:37.583Z,1758326797.583 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:37.598Z,1758326797.598 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.074235
2025-09-20T00:06:37.814Z,1758326797.814 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.289498
2025-09-20T00:06:37.971Z,1758326797.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.599998 m,
      deltaT: 0.503761 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:37.997Z,1758326797.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.510735 m,
      bearing: 248.134632 deg,
      lat: 36.779422 deg,
      lon: -121.859734 deg,
      deltaT: 0.503761 s,
      deltaX: 0.000023 m,
      approachRate: 0.000045 m/s,
      posRepo size: 4

2025-09-20T00:06:37.998Z,1758326797.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.51 m.
2025-09-20T00:06:38.009Z,1758326798.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.510735 m,
      nav range: 32.837364 m,
      bearing: 252.764025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.447516 deg,
      new cmd heading: 236.444664 deg.

2025-09-20T00:06:38.010Z,1758326798.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126738 target range: 33.510735 and range: 33.60 m.
2025-09-20T00:06:38.066Z,1758326798.066 [DAT](INFO): DAT read: Rx Time:00:06:39.0850 

2025-09-20T00:06:38.066Z,1758326798.066 [DAT](INFO): Rx dataTimestamp_ set to:1758326798.066046
2025-09-20T00:06:38.068Z,1758326798.068 [DAT](INFO): DAT read: Bearing  24.2,  12.3 (Local)

2025-09-20T00:06:38.068Z,1758326798.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.2,  12.3 (Local)

2025-09-20T00:06:38.070Z,1758326798.070 [DAT](INFO): DAT read: Range 11 to 50 :    33.3 m (trip time 22.2 ms) speed 0.3

2025-09-20T00:06:38.075Z,1758326798.075 [DAT](INFO): DAT read: 00:06:39.0850 LVL= 27456, 31857, 28482, 32755, AGC= 62, IDX= 510, 0.19, 0.681,-1.321, 0.344, 0.235, PHS= 0.548,-1.511, 0.065, RAW= 137.0,   9.7, CAL= 136.7,  10.7, ROT=  13.3, -10.7

2025-09-20T00:06:38.076Z,1758326798.076 [DAT](INFO): got valid direction response:
 00:06:39.0850 LVL= 27456, 31857, 28482, 32755, AGC= 62, IDX= 510, 0.19, 0.681,-1.321, 0.344, 0.235, PHS= 0.548,-1.511, 0.065, RAW= 137.0,   9.7, CAL= 136.7,  10.7, ROT=  13.3, -10.7

2025-09-20T00:06:38.076Z,1758326798.076 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-09-20T00:06:38.077Z,1758326798.077 [DAT](INFO): direction in FSK: [0.956258,0.226050,0.185667]
2025-09-20T00:06:38.077Z,1758326798.077 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:38.089Z,1758326798.089 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.564619
2025-09-20T00:06:38.319Z,1758326798.319 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.794073
2025-09-20T00:06:38.388Z,1758326798.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 0.502946 s,
      deltaX: -0.299999 m,
      approachRate: -0.596484 m/s,
      rangeRepo size: 4

2025-09-20T00:06:38.390Z,1758326798.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.211533 m,
      bearing: 252.488909 deg,
      lat: 36.779422 deg,
      lon: -121.859734 deg,
      deltaT: 0.502946 s,
      deltaX: -0.299202 m,
      approachRate: -0.594899 m/s,
      posRepo size: 4

2025-09-20T00:06:38.391Z,1758326798.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-09-20T00:06:38.394Z,1758326798.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.211533 m,
      nav range: 32.670940 m,
      bearing: 252.615716 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.444675 deg,
      new cmd heading: 236.442562 deg.

2025-09-20T00:06:38.395Z,1758326798.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126701 target range: 33.211533 and range: 33.30 m.
2025-09-20T00:06:38.571Z,1758326798.571 [DAT](INFO): DAT read: Rx Time:00:06:39.5849 

2025-09-20T00:06:38.571Z,1758326798.571 [DAT](INFO): Rx dataTimestamp_ set to:1758326798.570954
2025-09-20T00:06:38.573Z,1758326798.573 [DAT](INFO): DAT read: Bearing  24.6,  12.3 (Local)

2025-09-20T00:06:38.573Z,1758326798.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.6,  12.3 (Local)

2025-09-20T00:06:38.575Z,1758326798.575 [DAT](INFO): DAT read: Range 11 to 50 :    33.2 m (trip time 22.1 ms) speed 0.4

2025-09-20T00:06:38.582Z,1758326798.582 [DAT](INFO): DAT read: 00:06:39.5849 LVL= 29120, 30177, 31154, 32755, AGC= 63, IDX= 509, 0.02,-0.225,-2.224,-0.556,-0.655, PHS= 0.532,-1.523, 0.055, RAW= 137.2,  10.1, CAL= 136.8,  11.1, ROT=  13.2, -11.1

2025-09-20T00:06:38.583Z,1758326798.583 [DAT](INFO): got valid direction response:
 00:06:39.5849 LVL= 29120, 30177, 31154, 32755, AGC= 63, IDX= 509, 0.02,-0.225,-2.224,-0.556,-0.655, PHS= 0.532,-1.523, 0.055, RAW= 137.2,  10.1, CAL= 136.8,  11.1, ROT=  13.2, -11.1

2025-09-20T00:06:38.584Z,1758326798.584 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-09-20T00:06:38.589Z,1758326798.589 [DAT](INFO): direction in FSK: [0.955366,0.224079,0.192522]
2025-09-20T00:06:38.590Z,1758326798.590 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:38.595Z,1758326798.595 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.070947
2025-09-20T00:06:38.822Z,1758326798.822 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.297223
2025-09-20T00:06:38.879Z,1758326798.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.200001 m,
      deltaT: 0.504908 s,
      deltaX: -0.099998 m,
      approachRate: -0.198053 m/s,
      rangeRepo size: 4

2025-09-20T00:06:38.889Z,1758326798.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.111816 m,
      bearing: 252.361690 deg,
      lat: 36.779421 deg,
      lon: -121.859734 deg,
      deltaT: 0.504908 s,
      deltaX: -0.099716 m,
      approachRate: -0.197494 m/s,
      posRepo size: 4

2025-09-20T00:06:38.890Z,1758326798.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-09-20T00:06:38.897Z,1758326798.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.111816 m,
      nav range: 32.496822 m,
      bearing: 252.449110 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.442571 deg,
      new cmd heading: 236.440129 deg.

2025-09-20T00:06:38.898Z,1758326798.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126659 target range: 33.111816 and range: 33.20 m.
2025-09-20T00:06:39.074Z,1758326799.074 [DAT](INFO): DAT read: Rx Time:00:06:40.0846 

2025-09-20T00:06:39.074Z,1758326799.074 [DAT](INFO): Rx dataTimestamp_ set to:1758326799.073806
2025-09-20T00:06:39.075Z,1758326799.075 [DAT](INFO): DAT read: Bearing  26.1,  12.6 (Local)

2025-09-20T00:06:39.076Z,1758326799.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.1,  12.6 (Local)

2025-09-20T00:06:39.078Z,1758326799.078 [DAT](INFO): DAT read: Range 11 to 50 :    32.7 m (trip time 21.8 ms) speed 0.4

2025-09-20T00:06:39.083Z,1758326799.083 [DAT](INFO): DAT read: 00:06:40.0846 LVL= 28032, 29905, 30610, 32755, AGC= 62, IDX= 507,-0.17,-2.802, 1.553,-3.124, 3.110, PHS= 0.473,-1.512, 0.005, RAW= 137.0,  11.5, CAL= 136.4,  12.5, ROT=  13.6, -12.5

2025-09-20T00:06:39.084Z,1758326799.084 [DAT](INFO): got valid direction response:
 00:06:40.0846 LVL= 28032, 29905, 30610, 32755, AGC= 62, IDX= 507,-0.17,-2.802, 1.553,-3.124, 3.110, PHS= 0.473,-1.512, 0.005, RAW= 137.0,  11.5, CAL= 136.4,  12.5, ROT=  13.6, -12.5

2025-09-20T00:06:39.084Z,1758326799.084 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-09-20T00:06:39.085Z,1758326799.085 [DAT](INFO): direction in FSK: [0.948922,0.229568,0.216440]
2025-09-20T00:06:39.085Z,1758326799.085 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:39.089Z,1758326799.089 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.565011
2025-09-20T00:06:39.326Z,1758326799.326 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.801724
2025-09-20T00:06:39.365Z,1758326799.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.700001 m,
      deltaT: 0.502852 s,
      deltaX: -0.500000 m,
      approachRate: -0.994328 m/s,
      rangeRepo size: 4

2025-09-20T00:06:39.367Z,1758326799.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.613144 m,
      bearing: 252.801798 deg,
      lat: 36.779421 deg,
      lon: -121.859732 deg,
      deltaT: 0.502852 s,
      deltaX: -0.498672 m,
      approachRate: -0.991688 m/s,
      posRepo size: 4

2025-09-20T00:06:39.367Z,1758326799.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.61 m.
2025-09-20T00:06:39.375Z,1758326799.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.613144 m,
      nav range: 32.177525 m,
      bearing: 252.349738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.440139 deg,
      new cmd heading: 236.437746 deg.

2025-09-20T00:06:39.376Z,1758326799.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126617 target range: 32.613144 and range: 32.70 m.
2025-09-20T00:06:39.578Z,1758326799.578 [DAT](INFO): DAT read: Rx Time:00:06:40.5846 

2025-09-20T00:06:39.578Z,1758326799.578 [DAT](INFO): Rx dataTimestamp_ set to:1758326799.578137
2025-09-20T00:06:39.580Z,1758326799.580 [DAT](INFO): DAT read: Bearing  24.9,  12.8 (Local)

2025-09-20T00:06:39.580Z,1758326799.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.9,  12.8 (Local)

2025-09-20T00:06:39.582Z,1758326799.582 [DAT](INFO): DAT read: Range 11 to 50 :    32.7 m (trip time 21.8 ms) speed 0.3

2025-09-20T00:06:39.587Z,1758326799.587 [DAT](INFO): DAT read: 00:06:40.5846 LVL= 28528, 29297, 29058, 32755, AGC= 63, IDX= 507,-0.43,-1.909, 2.424,-2.239,-2.322, PHS= 0.515,-1.492, 0.039, RAW= 136.9,  10.3, CAL= 136.5,  11.4, ROT=  13.5, -11.4

2025-09-20T00:06:39.588Z,1758326799.588 [DAT](INFO): got valid direction response:
 00:06:40.5846 LVL= 28528, 29297, 29058, 32755, AGC= 63, IDX= 507,-0.43,-1.909, 2.424,-2.239,-2.322, PHS= 0.515,-1.492, 0.039, RAW= 136.9,  10.3, CAL= 136.5,  11.4, ROT=  13.5, -11.4

2025-09-20T00:06:39.588Z,1758326799.588 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-09-20T00:06:39.589Z,1758326799.589 [DAT](INFO): direction in FSK: [0.953186,0.228840,0.197657]
2025-09-20T00:06:39.590Z,1758326799.590 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:39.594Z,1758326799.594 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.069726
2025-09-20T00:06:39.830Z,1758326799.830 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.305250
2025-09-20T00:06:39.883Z,1758326799.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.700001 m,
      deltaT: 0.504331 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:39.889Z,1758326799.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.613079 m,
      bearing: 252.625140 deg,
      lat: 36.779421 deg,
      lon: -121.859734 deg,
      deltaT: 0.504331 s,
      deltaX: -0.000065 m,
      approachRate: -0.000129 m/s,
      posRepo size: 4

2025-09-20T00:06:39.890Z,1758326799.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.61 m.
2025-09-20T00:06:39.897Z,1758326799.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.613079 m,
      nav range: 32.083832 m,
      bearing: 252.406278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.437735 deg,
      new cmd heading: 236.435136 deg.

2025-09-20T00:06:39.898Z,1758326799.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126572 target range: 32.613079 and range: 32.70 m.
2025-09-20T00:06:40.081Z,1758326800.081 [DAT](INFO): DAT read: Rx Time:00:06:41.0844 

2025-09-20T00:06:40.082Z,1758326800.082 [DAT](INFO): Rx dataTimestamp_ set to:1758326800.081604
2025-09-20T00:06:40.083Z,1758326800.083 [DAT](INFO): DAT read: Bearing  24.0,  12.8 (Local)

2025-09-20T00:06:40.083Z,1758326800.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.0,  12.8 (Local)

2025-09-20T00:06:40.086Z,1758326800.086 [DAT](INFO): DAT read: Range 11 to 50 :    32.4 m (trip time 21.6 ms) speed 0.4

2025-09-20T00:06:40.091Z,1758326800.091 [DAT](INFO): DAT read: 00:06:41.0844 LVL= 23872, 32753, 26098, 32755, AGC= 60, IDX= 504, 0.25,-1.780, 2.585,-2.101,-2.210, PHS= 0.533,-1.443, 0.065, RAW= 136.9,   9.5, CAL= 136.6,  10.5, ROT=  13.4, -10.5

2025-09-20T00:06:40.092Z,1758326800.092 [DAT](INFO): got valid direction response:
 00:06:41.0844 LVL= 23872, 32753, 26098, 32755, AGC= 60, IDX= 504, 0.25,-1.780, 2.585,-2.101,-2.210, PHS= 0.533,-1.443, 0.065, RAW= 136.9,   9.5, CAL= 136.6,  10.5, ROT=  13.4, -10.5

2025-09-20T00:06:40.093Z,1758326800.093 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-09-20T00:06:40.093Z,1758326800.093 [DAT](INFO): direction in FSK: [0.956487,0.227867,0.182236]
2025-09-20T00:06:40.094Z,1758326800.094 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:40.097Z,1758326800.097 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.573236
2025-09-20T00:06:40.321Z,1758326800.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.400002 m,
      deltaT: 0.503467 s,
      deltaX: -0.299999 m,
      approachRate: -0.595867 m/s,
      rangeRepo size: 4

2025-09-20T00:06:40.331Z,1758326800.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.313877 m,
      bearing: 252.436008 deg,
      lat: 36.779421 deg,
      lon: -121.859734 deg,
      deltaT: 0.503467 s,
      deltaX: -0.299202 m,
      approachRate: -0.594283 m/s,
      posRepo size: 4

2025-09-20T00:06:40.331Z,1758326800.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.31 m.
2025-09-20T00:06:40.334Z,1758326800.334 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.809881
2025-09-20T00:06:40.343Z,1758326800.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.313877 m,
      nav range: 31.870310 m,
      bearing: 252.459223 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.435140 deg,
      new cmd heading: 236.432985 deg.

2025-09-20T00:06:40.345Z,1758326800.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126534 target range: 32.313877 and range: 32.40 m.
2025-09-20T00:06:40.586Z,1758326800.586 [DAT](INFO): DAT read: Rx Time:00:06:41.5843 

2025-09-20T00:06:40.587Z,1758326800.587 [DAT](INFO): Rx dataTimestamp_ set to:1758326800.586607
2025-09-20T00:06:40.589Z,1758326800.589 [DAT](INFO): DAT read: Bearing  25.7,  12.8 (Local)

2025-09-20T00:06:40.590Z,1758326800.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.7,  12.8 (Local)

2025-09-20T00:06:40.593Z,1758326800.593 [DAT](INFO): DAT read: Range 11 to 50 :    32.3 m (trip time 21.5 ms) speed 0.4

2025-09-20T00:06:40.598Z,1758326800.598 [DAT](INFO): DAT read: 00:06:41.5843 LVL= 25856, 32753, 29266, 32755, AGC= 61, IDX= 504,-0.12,-1.989, 2.382,-2.308,-2.368, PHS= 0.481,-1.489, 0.016, RAW= 137.0,  11.1, CAL= 136.4,  12.2, ROT=  13.6, -12.2

2025-09-20T00:06:40.599Z,1758326800.599 [DAT](INFO): got valid direction response:
 00:06:41.5843 LVL= 25856, 32753, 29266, 32755, AGC= 61, IDX= 504,-0.12,-1.989, 2.382,-2.308,-2.368, PHS= 0.481,-1.489, 0.016, RAW= 137.0,  11.1, CAL= 136.4,  12.2, ROT=  13.6, -12.2

2025-09-20T00:06:40.600Z,1758326800.600 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-09-20T00:06:40.601Z,1758326800.601 [DAT](INFO): direction in FSK: [0.950010,0.229832,0.211325]
2025-09-20T00:06:40.601Z,1758326800.601 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:40.605Z,1758326800.605 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.080369
2025-09-20T00:06:40.835Z,1758326800.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.299999 m,
      deltaT: 0.505003 s,
      deltaX: -0.100002 m,
      approachRate: -0.198023 m/s,
      rangeRepo size: 4

2025-09-20T00:06:40.838Z,1758326800.838 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.313378
2025-09-20T00:06:40.842Z,1758326800.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.214165 m,
      bearing: 252.633335 deg,
      lat: 36.779422 deg,
      lon: -121.859734 deg,
      deltaT: 0.505003 s,
      deltaX: -0.099712 m,
      approachRate: -0.197449 m/s,
      posRepo size: 4

2025-09-20T00:06:40.842Z,1758326800.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.21 m.
2025-09-20T00:06:40.849Z,1758326800.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.214165 m,
      nav range: 31.580126 m,
      bearing: 252.542725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.432981 deg,
      new cmd heading: 236.430406 deg.

2025-09-20T00:06:40.850Z,1758326800.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126489 target range: 32.214165 and range: 32.30 m.
2025-09-20T00:06:41.089Z,1758326801.089 [DAT](INFO): DAT read: Rx Time:00:06:42.0841 

2025-09-20T00:06:41.090Z,1758326801.090 [DAT](INFO): Rx dataTimestamp_ set to:1758326801.089654
2025-09-20T00:06:41.091Z,1758326801.091 [DAT](INFO): DAT read: Bearing  23.9,  12.6 (Local)

2025-09-20T00:06:41.092Z,1758326801.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.9,  12.6 (Local)

2025-09-20T00:06:41.094Z,1758326801.094 [DAT](INFO): DAT read: Range 11 to 50 :    32.0 m (trip time 21.3 ms) speed 0.4

2025-09-20T00:06:41.098Z,1758326801.098 [DAT](INFO): DAT read: 00:06:42.0841 LVL= 21744, 30145, 25522, 32755, AGC= 60, IDX= 501, 0.29,-0.194,-2.146,-0.510,-0.629, PHS= 0.536,-1.473, 0.075, RAW= 137.3,   9.5, CAL= 137.0,  10.5, ROT=  13.0, -10.5

2025-09-20T00:06:41.099Z,1758326801.099 [DAT](INFO): got valid direction response:
 00:06:42.0841 LVL= 21744, 30145, 25522, 32755, AGC= 60, IDX= 501, 0.29,-0.194,-2.146,-0.510,-0.629, PHS= 0.536,-1.473, 0.075, RAW= 137.3,   9.5, CAL= 137.0,  10.5, ROT=  13.0, -10.5

2025-09-20T00:06:41.100Z,1758326801.100 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-09-20T00:06:41.105Z,1758326801.105 [DAT](INFO): direction in FSK: [0.958054,0.221184,0.182236]
2025-09-20T00:06:41.105Z,1758326801.105 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:41.110Z,1758326801.110 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.586021
2025-09-20T00:06:41.247Z,1758326801.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.000000 m,
      deltaT: 0.503047 s,
      deltaX: -0.299999 m,
      approachRate: -0.596364 m/s,
      rangeRepo size: 4

2025-09-20T00:06:41.253Z,1758326801.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.914961 m,
      bearing: 251.921865 deg,
      lat: 36.779422 deg,
      lon: -121.859734 deg,
      deltaT: 0.503047 s,
      deltaX: -0.299204 m,
      approachRate: -0.594783 m/s,
      posRepo size: 4

2025-09-20T00:06:41.254Z,1758326801.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-09-20T00:06:41.261Z,1758326801.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.914961 m,
      nav range: 31.371508 m,
      bearing: 252.503661 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.430413 deg,
      new cmd heading: 236.428360 deg.

2025-09-20T00:06:41.262Z,1758326801.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126453 target range: 31.914961 and range: 32.00 m.
2025-09-20T00:06:41.341Z,1758326801.341 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.817110
2025-09-20T00:06:41.597Z,1758326801.597 [DAT](INFO): DAT read: Rx Time:00:06:42.5840 

2025-09-20T00:06:41.599Z,1758326801.599 [DAT](INFO): Rx dataTimestamp_ set to:1758326801.597658
2025-09-20T00:06:41.603Z,1758326801.603 [DAT](INFO): DAT read: Bearing  25.4,  12.6 (Local)

2025-09-20T00:06:41.604Z,1758326801.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.4,  12.6 (Local)

2025-09-20T00:06:41.607Z,1758326801.607 [DAT](INFO): DAT read: Range 11 to 50 :    31.8 m (trip time 21.2 ms) speed 0.4

2025-09-20T00:06:41.649Z,1758326801.649 [DAT](INFO): DAT read: 00:06:42.5840 LVL= 24880, 27889, 26642, 32755, AGC= 62, IDX= 501,-0.12,-0.478,-2.415,-0.790,-0.862, PHS= 0.485,-1.508, 0.028, RAW= 137.4,  11.0, CAL= 136.8,  12.0, ROT=  13.2, -12.0

2025-09-20T00:06:41.650Z,1758326801.650 [DAT](INFO): got valid direction response:
 00:06:42.5840 LVL= 24880, 27889, 26642, 32755, AGC= 62, IDX= 501,-0.12,-0.478,-2.415,-0.790,-0.862, PHS= 0.485,-1.508, 0.028, RAW= 137.4,  11.0, CAL= 136.8,  12.0, ROT=  13.2, -12.0

2025-09-20T00:06:41.650Z,1758326801.650 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-09-20T00:06:41.651Z,1758326801.651 [DAT](INFO): direction in FSK: [0.952304,0.223361,0.207912]
2025-09-20T00:06:41.651Z,1758326801.651 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:41.695Z,1758326801.695 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.159438
2025-09-20T00:06:41.788Z,1758326801.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 0.508004 s,
      deltaX: -0.200001 m,
      approachRate: -0.393699 m/s,
      rangeRepo size: 4

2025-09-20T00:06:41.798Z,1758326801.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.715528 m,
      bearing: 252.107433 deg,
      lat: 36.779421 deg,
      lon: -121.859734 deg,
      deltaT: 0.508004 s,
      deltaX: -0.199432 m,
      approachRate: -0.392580 m/s,
      posRepo size: 4

2025-09-20T00:06:41.798Z,1758326801.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.72 m.
2025-09-20T00:06:41.807Z,1758326801.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.715528 m,
      nav range: 31.146173 m,
      bearing: 252.319351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.428364 deg,
      new cmd heading: 236.425675 deg.

2025-09-20T00:06:41.815Z,1758326801.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126407 target range: 31.715528 and range: 31.80 m.
2025-09-20T00:06:41.845Z,1758326801.845 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.320828
2025-09-20T00:06:42.099Z,1758326802.099 [DAT](INFO): DAT read: Rx Time:00:06:43.0838 

2025-09-20T00:06:42.100Z,1758326802.100 [DAT](INFO): Rx dataTimestamp_ set to:1758326802.099090
2025-09-20T00:06:42.102Z,1758326802.102 [DAT](INFO): DAT read: Bearing  24.6,  12.5 (Local)

2025-09-20T00:06:42.102Z,1758326802.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.6,  12.5 (Local)

2025-09-20T00:06:42.105Z,1758326802.105 [DAT](INFO): DAT read: Range 11 to 50 :    31.5 m (trip time 21.0 ms) speed 0.4

2025-09-20T00:06:42.111Z,1758326802.111 [DAT](INFO): DAT read: 00:06:43.0838 LVL= 29760, 32753, 31954, 32755, AGC= 63, IDX= 498, 0.31, 1.058,-0.910, 0.746, 0.645, PHS= 0.515,-1.510, 0.057, RAW= 137.6,  10.2, CAL= 137.1,  11.2, ROT=  12.9, -11.2

2025-09-20T00:06:42.113Z,1758326802.113 [DAT](INFO): got valid direction response:
 00:06:43.0838 LVL= 29760, 32753, 31954, 32755, AGC= 63, IDX= 498, 0.31, 1.058,-0.910, 0.746, 0.645, PHS= 0.515,-1.510, 0.057, RAW= 137.6,  10.2, CAL= 137.1,  11.2, ROT=  12.9, -11.2

2025-09-20T00:06:42.113Z,1758326802.113 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-09-20T00:06:42.114Z,1758326802.114 [DAT](INFO): direction in FSK: [0.956197,0.218998,0.194234]
2025-09-20T00:06:42.114Z,1758326802.114 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:42.118Z,1758326802.118 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.593757
2025-09-20T00:06:42.249Z,1758326802.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.501432 s,
      deltaX: -0.299999 m,
      approachRate: -0.598285 m/s,
      rangeRepo size: 4

2025-09-20T00:06:42.251Z,1758326802.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.416325 m,
      bearing: 251.782924 deg,
      lat: 36.779420 deg,
      lon: -121.859733 deg,
      deltaT: 0.501432 s,
      deltaX: -0.299204 m,
      approachRate: -0.596699 m/s,
      posRepo size: 4

2025-09-20T00:06:42.258Z,1758326802.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.42 m.
2025-09-20T00:06:42.265Z,1758326802.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.416325 m,
      nav range: 30.916363 m,
      bearing: 252.107759 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.425687 deg,
      new cmd heading: 236.423392 deg.

2025-09-20T00:06:42.266Z,1758326802.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126367 target range: 31.416325 and range: 31.50 m.
2025-09-20T00:06:42.349Z,1758326802.349 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.824839
2025-09-20T00:06:42.605Z,1758326802.605 [DAT](INFO): DAT read: Rx Time:00:06:43.5837 

2025-09-20T00:06:42.606Z,1758326802.606 [DAT](INFO): Rx dataTimestamp_ set to:1758326802.605280
2025-09-20T00:06:42.607Z,1758326802.607 [DAT](INFO): DAT read: Bearing  25.0,  12.5 (Local)

2025-09-20T00:06:42.607Z,1758326802.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.0,  12.5 (Local)

2025-09-20T00:06:42.609Z,1758326802.609 [DAT](INFO): DAT read: Range 11 to 50 :    31.4 m (trip time 20.9 ms) speed 0.4

2025-09-20T00:06:42.614Z,1758326802.614 [DAT](INFO): DAT read: 00:06:43.5837 LVL= 26448, 29857, 29826, 32755, AGC= 60, IDX= 497,-0.06,-1.184, 3.135,-1.496,-1.584, PHS= 0.501,-1.520, 0.044, RAW= 137.5,  10.6, CAL= 137.1,  11.6, ROT=  12.9, -11.6

2025-09-20T00:06:42.615Z,1758326802.615 [DAT](INFO): got valid direction response:
 00:06:43.5837 LVL= 26448, 29857, 29826, 32755, AGC= 60, IDX= 497,-0.06,-1.184, 3.135,-1.496,-1.584, PHS= 0.501,-1.520, 0.044, RAW= 137.5,  10.6, CAL= 137.1,  11.6, ROT=  12.9, -11.6

2025-09-20T00:06:42.615Z,1758326802.615 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-09-20T00:06:42.621Z,1758326802.621 [DAT](INFO): direction in FSK: [0.954852,0.218690,0.201078]
2025-09-20T00:06:42.621Z,1758326802.621 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:42.640Z,1758326802.640 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.116301
2025-09-20T00:06:42.768Z,1758326802.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.400000 m,
      deltaT: 0.506190 s,
      deltaX: -0.100000 m,
      approachRate: -0.197555 m/s,
      rangeRepo size: 4

2025-09-20T00:06:42.770Z,1758326802.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.316620 m,
      bearing: 251.624294 deg,
      lat: 36.779419 deg,
      lon: -121.859732 deg,
      deltaT: 0.506190 s,
      deltaX: -0.099705 m,
      approachRate: -0.196971 m/s,
      posRepo size: 4

2025-09-20T00:06:42.771Z,1758326802.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-09-20T00:06:42.778Z,1758326802.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316620 m,
      nav range: 30.667618 m,
      bearing: 251.778181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.423392 deg,
      new cmd heading: 236.420830 deg.

2025-09-20T00:06:42.779Z,1758326802.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126322 target range: 31.316620 and range: 31.40 m.
2025-09-20T00:06:42.854Z,1758326802.854 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.329536
2025-09-20T00:06:43.105Z,1758326803.105 [DAT](INFO): DAT read: Rx Time:00:06:44.0833 

2025-09-20T00:06:43.106Z,1758326803.106 [DAT](INFO): Rx dataTimestamp_ set to:1758326803.105592
2025-09-20T00:06:43.107Z,1758326803.107 [DAT](INFO): DAT read: Bearing  24.6,  12.4 (Local)

2025-09-20T00:06:43.107Z,1758326803.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.6,  12.4 (Local)

2025-09-20T00:06:43.110Z,1758326803.110 [DAT](INFO): DAT read: Range 11 to 50 :    30.9 m (trip time 20.6 ms) speed 0.4

2025-09-20T00:06:43.114Z,1758326803.114 [DAT](INFO): DAT read: 00:06:44.0833 LVL= 25888, 30833, 29042, 32755, AGC= 62, IDX= 511,-0.49,-2.120, 2.209,-2.425,-2.527, PHS= 0.509,-1.502, 0.058, RAW= 137.7,  10.3, CAL= 137.2,  11.3, ROT=  12.8, -11.3

2025-09-20T00:06:43.115Z,1758326803.115 [DAT](INFO): got valid direction response:
 00:06:44.0833 LVL= 25888, 30833, 29042, 32755, AGC= 62, IDX= 511,-0.49,-2.120, 2.209,-2.425,-2.527, PHS= 0.509,-1.502, 0.058, RAW= 137.7,  10.3, CAL= 137.2,  11.3, ROT=  12.8, -11.3

2025-09-20T00:06:43.116Z,1758326803.116 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-09-20T00:06:43.117Z,1758326803.117 [DAT](INFO): direction in FSK: [0.956246,0.217254,0.195946]
2025-09-20T00:06:43.117Z,1758326803.117 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:43.120Z,1758326803.120 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.596241
2025-09-20T00:06:43.194Z,1758326803.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.500312 s,
      deltaX: -0.500000 m,
      approachRate: -0.999376 m/s,
      rangeRepo size: 4

2025-09-20T00:06:43.209Z,1758326803.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.817947 m,
      bearing: 251.514786 deg,
      lat: 36.779419 deg,
      lon: -121.859732 deg,
      deltaT: 0.500312 s,
      deltaX: -0.498672 m,
      approachRate: -0.996723 m/s,
      posRepo size: 4

2025-09-20T00:06:43.209Z,1758326803.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.82 m.
2025-09-20T00:06:43.216Z,1758326803.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.817947 m,
      nav range: 30.466413 m,
      bearing: 251.738763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002487 deg/s,
      cmd heading: 236.420824 deg,
      new cmd heading: 236.418685 deg.

2025-09-20T00:06:43.217Z,1758326803.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126285 target range: 30.817947 and range: 30.90 m.
2025-09-20T00:06:43.361Z,1758326803.361 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.836021
2025-09-20T00:06:43.539Z,1758326803.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:43.541Z,1758326803.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.82 m.
2025-09-20T00:06:43.544Z,1758326803.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.817947 m,
      nav range: 30.297478 m,
      bearing: 251.714578 deg,
      approach rate: -0.485929 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 236.418693 deg,
      new cmd heading: 236.370053 deg.

2025-09-20T00:06:43.545Z,1758326803.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125436 target range: 30.817947 and range: 30.90 m.
2025-09-20T00:06:43.614Z,1758326803.614 [DAT](INFO): DAT read: Rx Time:00:06:44.5833 

2025-09-20T00:06:43.615Z,1758326803.615 [DAT](INFO): Rx dataTimestamp_ set to:1758326803.614541
2025-09-20T00:06:43.619Z,1758326803.619 [DAT](INFO): DAT read: Bearing  24.3,  12.4 (Local)

2025-09-20T00:06:43.620Z,1758326803.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.3,  12.4 (Local)

2025-09-20T00:06:43.626Z,1758326803.626 [DAT](INFO): DAT read: Range 11 to 50 :    30.9 m (trip time 20.6 ms) speed 0.4

2025-09-20T00:06:43.651Z,1758326803.651 [DAT](INFO): DAT read: 00:06:44.5833 LVL= 26768, 30241, 29666, 32755, AGC= 61, IDX= 510, 0.11, 0.215,-1.739,-0.088,-0.200, PHS= 0.518,-1.494, 0.068, RAW= 137.7,  10.0, CAL= 137.3,  11.0, ROT=  12.7, -11.0

2025-09-20T00:06:43.663Z,1758326803.663 [DAT](INFO): got valid direction response:
 00:06:44.5833 LVL= 26768, 30241, 29666, 32755, AGC= 61, IDX= 510, 0.11, 0.215,-1.739,-0.088,-0.200, PHS= 0.518,-1.494, 0.068, RAW= 137.7,  10.0, CAL= 137.3,  11.0, ROT=  12.7, -11.0

2025-09-20T00:06:43.668Z,1758326803.668 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-09-20T00:06:43.669Z,1758326803.669 [DAT](INFO): direction in FSK: [0.957611,0.215807,0.190809]
2025-09-20T00:06:43.669Z,1758326803.669 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:43.705Z,1758326803.705 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.180680
2025-09-20T00:06:43.861Z,1758326803.861 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.336775
2025-09-20T00:06:44.021Z,1758326804.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.508949 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:44.023Z,1758326804.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.817949 m,
      bearing: 251.312544 deg,
      lat: 36.779419 deg,
      lon: -121.859732 deg,
      deltaT: 0.508949 s,
      deltaX: 0.000002 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-09-20T00:06:44.023Z,1758326804.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.82 m.
2025-09-20T00:06:44.026Z,1758326804.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.817949 m,
      nav range: 30.098175 m,
      bearing: 251.609137 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 236.370062 deg,
      new cmd heading: 236.303124 deg.

2025-09-20T00:06:44.027Z,1758326804.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124268 target range: 30.817949 and range: 30.90 m.
2025-09-20T00:06:44.116Z,1758326804.116 [DAT](INFO): DAT read: Rx Time:00:06:45.0831 

2025-09-20T00:06:44.116Z,1758326804.116 [DAT](INFO): Rx dataTimestamp_ set to:1758326804.115834
2025-09-20T00:06:44.117Z,1758326804.117 [DAT](INFO): DAT read: Bearing  25.0,  12.9 (Local)

2025-09-20T00:06:44.118Z,1758326804.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.0,  12.9 (Local)

2025-09-20T00:06:44.120Z,1758326804.120 [DAT](INFO): DAT read: Range 11 to 50 :    30.5 m (trip time 20.3 ms) speed 0.4

2025-09-20T00:06:44.126Z,1758326804.126 [DAT](INFO): DAT read: 00:06:45.0831 LVL= 30400, 32753, 31698, 32755, AGC= 62, IDX= 508,-0.17,-2.983, 1.396, 2.993, 2.913, PHS= 0.489,-1.472, 0.036, RAW= 137.3,  10.7, CAL= 136.8,  11.7, ROT=  13.2, -11.7

2025-09-20T00:06:44.127Z,1758326804.127 [DAT](INFO): got valid direction response:
 00:06:45.0831 LVL= 30400, 32753, 31698, 32755, AGC= 62, IDX= 508,-0.17,-2.983, 1.396, 2.993, 2.913, PHS= 0.489,-1.472, 0.036, RAW= 137.3,  10.7, CAL= 136.8,  11.7, ROT=  13.2, -11.7

2025-09-20T00:06:44.134Z,1758326804.134 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-09-20T00:06:44.135Z,1758326804.135 [DAT](INFO): direction in FSK: [0.953351,0.223606,0.202787]
2025-09-20T00:06:44.135Z,1758326804.135 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:44.139Z,1758326804.139 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.614793
2025-09-20T00:06:44.369Z,1758326804.369 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.844690
2025-09-20T00:06:44.404Z,1758326804.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.501293 s,
      deltaX: -0.400000 m,
      approachRate: -0.797936 m/s,
      rangeRepo size: 4

2025-09-20T00:06:44.406Z,1758326804.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.419012 m,
      bearing: 251.727258 deg,
      lat: 36.779419 deg,
      lon: -121.859732 deg,
      deltaT: 0.501293 s,
      deltaX: -0.398937 m,
      approachRate: -0.795816 m/s,
      posRepo size: 4

2025-09-20T00:06:44.407Z,1758326804.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-09-20T00:06:44.418Z,1758326804.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.419012 m,
      nav range: 29.897009 m,
      bearing: 251.556579 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 236.303126 deg,
      new cmd heading: 236.250031 deg.

2025-09-20T00:06:44.419Z,1758326804.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123341 target range: 30.419012 and range: 30.50 m.
2025-09-20T00:06:44.625Z,1758326804.625 [DAT](INFO): DAT read: Rx Time:00:06:45.5831 

2025-09-20T00:06:44.627Z,1758326804.627 [DAT](INFO): Rx dataTimestamp_ set to:1758326804.625925
2025-09-20T00:06:44.631Z,1758326804.631 [DAT](INFO): DAT read: Bearing  24.9,  12.6 (Local)

2025-09-20T00:06:44.633Z,1758326804.633 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.9,  12.6 (Local)

2025-09-20T00:06:44.641Z,1758326804.641 [DAT](INFO): DAT read: Range 11 to 50 :    30.5 m (trip time 20.3 ms) speed 0.4

2025-09-20T00:06:44.662Z,1758326804.662 [DAT](INFO): DAT read: 00:06:45.5831 LVL= 24656, 31569, 28898, 32755, AGC= 61, IDX= 507, 0.44,-0.890,-2.821,-1.188,-1.277, PHS= 0.489,-1.499, 0.045, RAW= 137.7,  10.7, CAL= 137.2,  11.7, ROT=  12.8, -11.7

2025-09-20T00:06:44.663Z,1758326804.663 [DAT](INFO): got valid direction response:
 00:06:45.5831 LVL= 24656, 31569, 28898, 32755, AGC= 61, IDX= 507, 0.44,-0.890,-2.821,-1.188,-1.277, PHS= 0.489,-1.499, 0.045, RAW= 137.7,  10.7, CAL= 137.2,  11.7, ROT=  12.8, -11.7

2025-09-20T00:06:44.663Z,1758326804.663 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-09-20T00:06:44.669Z,1758326804.669 [DAT](INFO): direction in FSK: [0.954888,0.216945,0.202787]
2025-09-20T00:06:44.669Z,1758326804.669 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:44.677Z,1758326804.677 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.152803
2025-09-20T00:06:44.873Z,1758326804.873 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.348969
2025-09-20T00:06:44.889Z,1758326804.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.510091 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:44.891Z,1758326804.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.418982 m,
      bearing: 251.280633 deg,
      lat: 36.779418 deg,
      lon: -121.859732 deg,
      deltaT: 0.510091 s,
      deltaX: -0.000031 m,
      approachRate: -0.000060 m/s,
      posRepo size: 4

2025-09-20T00:06:44.892Z,1758326804.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-09-20T00:06:44.895Z,1758326804.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.418982 m,
      nav range: 29.731007 m,
      bearing: 251.477329 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 236.250042 deg,
      new cmd heading: 236.181590 deg.

2025-09-20T00:06:44.896Z,1758326804.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122147 target range: 30.418982 and range: 30.50 m.
2025-09-20T00:06:45.126Z,1758326805.126 [DAT](INFO): DAT read: Rx Time:00:06:46.0829 

2025-09-20T00:06:45.126Z,1758326805.126 [DAT](INFO): Rx dataTimestamp_ set to:1758326805.125712
2025-09-20T00:06:45.127Z,1758326805.127 [DAT](INFO): DAT read: Bearing  24.3,  12.6 (Local)

2025-09-20T00:06:45.128Z,1758326805.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.3,  12.6 (Local)

2025-09-20T00:06:45.130Z,1758326805.130 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.4

2025-09-20T00:06:45.134Z,1758326805.134 [DAT](INFO): DAT read: 00:06:46.0829 LVL= 31664, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.16,-2.269, 2.092,-2.566,-2.672, PHS= 0.505,-1.474, 0.061, RAW= 137.7,  10.1, CAL= 137.2,  11.1, ROT=  12.8, -11.1

2025-09-20T00:06:45.135Z,1758326805.135 [DAT](INFO): got valid direction response:
 00:06:46.0829 LVL= 31664, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.16,-2.269, 2.092,-2.566,-2.672, PHS= 0.505,-1.474, 0.061, RAW= 137.7,  10.1, CAL= 137.2,  11.1, ROT=  12.8, -11.1

2025-09-20T00:06:45.136Z,1758326805.136 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-09-20T00:06:45.137Z,1758326805.137 [DAT](INFO): direction in FSK: [0.956907,0.217404,0.192522]
2025-09-20T00:06:45.137Z,1758326805.137 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:45.140Z,1758326805.140 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.616211
2025-09-20T00:06:45.285Z,1758326805.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.499787 s,
      deltaX: -0.299999 m,
      approachRate: -0.600254 m/s,
      rangeRepo size: 4

2025-09-20T00:06:45.287Z,1758326805.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.119780 m,
      bearing: 251.224240 deg,
      lat: 36.779417 deg,
      lon: -121.859732 deg,
      deltaT: 0.499787 s,
      deltaX: -0.299202 m,
      approachRate: -0.598659 m/s,
      posRepo size: 4

2025-09-20T00:06:45.287Z,1758326805.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-09-20T00:06:45.291Z,1758326805.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.119780 m,
      nav range: 29.545441 m,
      bearing: 251.224343 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 236.181603 deg,
      new cmd heading: 236.126829 deg.

2025-09-20T00:06:45.300Z,1758326805.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.121191 target range: 30.119780 and range: 30.20 m.
2025-09-20T00:06:45.378Z,1758326805.378 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.853721
2025-09-20T00:06:45.635Z,1758326805.635 [DAT](INFO): DAT read: Rx Time:00:06:46.5829 

2025-09-20T00:06:45.637Z,1758326805.637 [DAT](INFO): Rx dataTimestamp_ set to:1758326805.635885
2025-09-20T00:06:45.640Z,1758326805.640 [DAT](INFO): DAT read: Bearing  25.0,  13.1 (Local)

2025-09-20T00:06:45.642Z,1758326805.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.0,  13.1 (Local)

2025-09-20T00:06:45.648Z,1758326805.648 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.4

2025-09-20T00:06:45.667Z,1758326805.667 [DAT](INFO): DAT read: 00:06:46.5829 LVL= 24032, 31777, 27122, 32755, AGC= 60, IDX= 505,-0.05, 3.010, 1.090, 2.698, 2.622, PHS= 0.489,-1.487, 0.032, RAW= 137.2,  10.8, CAL= 136.7,  11.8, ROT=  13.3, -11.8

2025-09-20T00:06:45.672Z,1758326805.672 [DAT](INFO): got valid direction response:
 00:06:46.5829 LVL= 24032, 31777, 27122, 32755, AGC= 60, IDX= 505,-0.05, 3.010, 1.090, 2.698, 2.622, PHS= 0.489,-1.487, 0.032, RAW= 137.2,  10.8, CAL= 136.7,  11.8, ROT=  13.3, -11.8

2025-09-20T00:06:45.673Z,1758326805.673 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-09-20T00:06:45.674Z,1758326805.674 [DAT](INFO): direction in FSK: [0.952613,0.225188,0.204496]
2025-09-20T00:06:45.674Z,1758326805.674 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:45.682Z,1758326805.682 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.157408
2025-09-20T00:06:45.860Z,1758326805.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.510173 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:45.862Z,1758326805.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.119795 m,
      bearing: 251.691390 deg,
      lat: 36.779417 deg,
      lon: -121.859732 deg,
      deltaT: 0.510173 s,
      deltaX: 0.000015 m,
      approachRate: 0.000030 m/s,
      posRepo size: 4

2025-09-20T00:06:45.863Z,1758326805.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-09-20T00:06:45.869Z,1758326805.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.119795 m,
      nav range: 29.360996 m,
      bearing: 251.240344 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 236.126825 deg,
      new cmd heading: 236.046372 deg.

2025-09-20T00:06:45.870Z,1758326805.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119786 target range: 30.119795 and range: 30.20 m.
2025-09-20T00:06:45.881Z,1758326805.881 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.356889
2025-09-20T00:06:46.135Z,1758326806.135 [DAT](INFO): DAT read: Rx Time:00:06:47.0826 

2025-09-20T00:06:46.135Z,1758326806.135 [DAT](INFO): Rx dataTimestamp_ set to:1758326806.134976
2025-09-20T00:06:46.137Z,1758326806.137 [DAT](INFO): DAT read: Bearing  24.3,  13.3 (Local)

2025-09-20T00:06:46.138Z,1758326806.138 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.3,  13.3 (Local)

2025-09-20T00:06:46.141Z,1758326806.141 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.3

2025-09-20T00:06:46.151Z,1758326806.151 [DAT](INFO): DAT read: 00:06:47.0826 LVL= 22000, 32753, 24802, 32755, AGC= 59, IDX= 503,-0.24, 0.600,-1.270, 0.296, 0.206, PHS= 0.496,-1.430, 0.046, RAW= 137.1,  10.2, CAL= 136.7,  11.2, ROT=  13.3, -11.2

2025-09-20T00:06:46.153Z,1758326806.153 [DAT](INFO): got valid direction response:
 00:06:47.0826 LVL= 22000, 32753, 24802, 32755, AGC= 59, IDX= 503,-0.24, 0.600,-1.270, 0.296, 0.206, PHS= 0.496,-1.430, 0.046, RAW= 137.1,  10.2, CAL= 136.7,  11.2, ROT=  13.3, -11.2

2025-09-20T00:06:46.154Z,1758326806.154 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-09-20T00:06:46.155Z,1758326806.155 [DAT](INFO): direction in FSK: [0.954645,0.225668,0.194234]
2025-09-20T00:06:46.155Z,1758326806.155 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:46.183Z,1758326806.183 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.658538
2025-09-20T00:06:46.295Z,1758326806.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.499091 s,
      deltaX: -0.500000 m,
      approachRate: -1.001821 m/s,
      rangeRepo size: 4

2025-09-20T00:06:46.303Z,1758326806.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.621122 m,
      bearing: 251.669539 deg,
      lat: 36.779419 deg,
      lon: -121.859732 deg,
      deltaT: 0.499091 s,
      deltaX: -0.498672 m,
      approachRate: -0.999161 m/s,
      posRepo size: 4

2025-09-20T00:06:46.309Z,1758326806.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.62 m.
2025-09-20T00:06:46.319Z,1758326806.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.621122 m,
      nav range: 29.064909 m,
      bearing: 251.540614 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 236.046365 deg,
      new cmd heading: 235.984957 deg.

2025-09-20T00:06:46.324Z,1758326806.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118714 target range: 29.621122 and range: 29.70 m.
2025-09-20T00:06:46.385Z,1758326806.385 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.861266
2025-09-20T00:06:46.642Z,1758326806.642 [DAT](INFO): DAT read: Rx Time:00:06:47.5825 

2025-09-20T00:06:46.643Z,1758326806.643 [DAT](INFO): Rx dataTimestamp_ set to:1758326806.642282
2025-09-20T00:06:46.647Z,1758326806.647 [DAT](INFO): DAT read: Bearing  25.2,  13.1 (Local)

2025-09-20T00:06:46.648Z,1758326806.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.2,  13.1 (Local)

2025-09-20T00:06:46.685Z,1758326806.685 [DAT](INFO): DAT read: Range 11 to 50 :    29.6 m (trip time 19.7 ms) speed 0.4

2025-09-20T00:06:46.707Z,1758326806.707 [DAT](INFO): DAT read: 00:06:47.5825 LVL= 28624, 30897, 30930, 32755, AGC= 60, IDX= 501, 0.39, 2.350, 0.435, 2.045, 1.975, PHS= 0.478,-1.495, 0.027, RAW= 137.4,  11.1, CAL= 136.9,  12.1, ROT=  13.1, -12.1

2025-09-20T00:06:46.717Z,1758326806.717 [DAT](INFO): got valid direction response:
 00:06:47.5825 LVL= 28624, 30897, 30930, 32755, AGC= 60, IDX= 501, 0.39, 2.350, 0.435, 2.045, 1.975, PHS= 0.478,-1.495, 0.027, RAW= 137.4,  11.1, CAL= 136.9,  12.1, ROT=  13.1, -12.1

2025-09-20T00:06:46.717Z,1758326806.717 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-09-20T00:06:46.718Z,1758326806.718 [DAT](INFO): direction in FSK: [0.952337,0.221616,0.209619]
2025-09-20T00:06:46.718Z,1758326806.718 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:46.744Z,1758326806.744 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.207492
2025-09-20T00:06:46.865Z,1758326806.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.507306 s,
      deltaX: -0.100000 m,
      approachRate: -0.197120 m/s,
      rangeRepo size: 4

2025-09-20T00:06:46.867Z,1758326806.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.521387 m,
      bearing: 251.326310 deg,
      lat: 36.779418 deg,
      lon: -121.859732 deg,
      deltaT: 0.507306 s,
      deltaX: -0.099735 m,
      approachRate: -0.196598 m/s,
      posRepo size: 4

2025-09-20T00:06:46.872Z,1758326806.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-09-20T00:06:46.875Z,1758326806.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.521387 m,
      nav range: 28.845541 m,
      bearing: 251.334847 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 235.984948 deg,
      new cmd heading: 235.905092 deg.

2025-09-20T00:06:46.881Z,1758326806.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117321 target range: 29.521387 and range: 29.60 m.
2025-09-20T00:06:46.889Z,1758326806.889 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.364828
2025-09-20T00:06:47.142Z,1758326807.142 [DAT](INFO): DAT read: Rx Time:00:06:48.0823 

2025-09-20T00:06:47.142Z,1758326807.142 [DAT](INFO): Rx dataTimestamp_ set to:1758326807.141720
2025-09-20T00:06:47.143Z,1758326807.143 [DAT](INFO): DAT read: Bearing  24.8,  13.2 (Local)

2025-09-20T00:06:47.144Z,1758326807.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.8,  13.2 (Local)

2025-09-20T00:06:47.146Z,1758326807.146 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed 0.4

2025-09-20T00:06:47.151Z,1758326807.151 [DAT](INFO): DAT read: 00:06:48.0823 LVL= 28064, 30673, 31394, 32755, AGC= 60, IDX= 499, 0.10, 1.628,-0.291, 1.322, 1.241, PHS= 0.489,-1.487, 0.037, RAW= 137.4,  10.7, CAL= 136.9,  11.8, ROT=  13.1, -11.8

2025-09-20T00:06:47.152Z,1758326807.152 [DAT](INFO): got valid direction response:
 00:06:48.0823 LVL= 28064, 30673, 31394, 32755, AGC= 60, IDX= 499, 0.10, 1.628,-0.291, 1.322, 1.241, PHS= 0.489,-1.487, 0.037, RAW= 137.4,  10.7, CAL= 136.9,  11.8, ROT=  13.1, -11.8

2025-09-20T00:06:47.153Z,1758326807.153 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-09-20T00:06:47.154Z,1758326807.154 [DAT](INFO): direction in FSK: [0.953393,0.221862,0.204496]
2025-09-20T00:06:47.154Z,1758326807.154 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:47.214Z,1758326807.214 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.689425
2025-09-20T00:06:47.345Z,1758326807.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.499438 s,
      deltaX: -0.300001 m,
      approachRate: -0.600677 m/s,
      rangeRepo size: 4

2025-09-20T00:06:47.347Z,1758326807.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.222183 m,
      bearing: 251.318696 deg,
      lat: 36.779418 deg,
      lon: -121.859732 deg,
      deltaT: 0.499438 s,
      deltaX: -0.299204 m,
      approachRate: -0.599081 m/s,
      posRepo size: 4

2025-09-20T00:06:47.352Z,1758326807.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.22 m.
2025-09-20T00:06:47.355Z,1758326807.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.222183 m,
      nav range: 28.628309 m,
      bearing: 251.357951 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 235.905090 deg,
      new cmd heading: 235.838575 deg.

2025-09-20T00:06:47.361Z,1758326807.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116159 target range: 29.222183 and range: 29.30 m.
2025-09-20T00:06:47.393Z,1758326807.393 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.868845
2025-09-20T00:06:47.649Z,1758326807.649 [DAT](INFO): DAT read: Rx Time:00:06:48.5822 

2025-09-20T00:06:47.651Z,1758326807.651 [DAT](INFO): Rx dataTimestamp_ set to:1758326807.649660
2025-09-20T00:06:47.655Z,1758326807.655 [DAT](INFO): DAT read: Bearing  24.8,  13.4 (Local)

2025-09-20T00:06:47.656Z,1758326807.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.8,  13.4 (Local)

2025-09-20T00:06:47.674Z,1758326807.674 [DAT](INFO): DAT read: Range 11 to 50 :    29.1 m (trip time 19.4 ms) speed 0.3

2025-09-20T00:06:47.734Z,1758326807.734 [DAT](INFO): DAT read: 00:06:48.5822 LVL= 28128, 32753, 28626, 32755, AGC= 60, IDX= 499,-0.18, 1.962, 0.038, 1.651, 1.573, PHS= 0.491,-1.490, 0.034, RAW= 137.3,  10.8, CAL= 136.8,  11.8, ROT=  13.2, -11.8

2025-09-20T00:06:47.735Z,1758326807.735 [DAT](INFO): got valid direction response:
 00:06:48.5822 LVL= 28128, 32753, 28626, 32755, AGC= 60, IDX= 499,-0.18, 1.962, 0.038, 1.651, 1.573, PHS= 0.491,-1.490, 0.034, RAW= 137.3,  10.8, CAL= 136.8,  11.8, ROT=  13.2, -11.8

2025-09-20T00:06:47.748Z,1758326807.748 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-09-20T00:06:47.749Z,1758326807.749 [DAT](INFO): direction in FSK: [0.953005,0.223525,0.204496]
2025-09-20T00:06:47.750Z,1758326807.750 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:47.774Z,1758326807.774 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.249943
2025-09-20T00:06:47.897Z,1758326807.897 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.373137
2025-09-20T00:06:47.928Z,1758326807.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.507940 s,
      deltaX: -0.199999 m,
      approachRate: -0.393745 m/s,
      rangeRepo size: 4

2025-09-20T00:06:47.930Z,1758326807.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.022751 m,
      bearing: 251.422871 deg,
      lat: 36.779419 deg,
      lon: -121.859732 deg,
      deltaT: 0.507940 s,
      deltaX: -0.199432 m,
      approachRate: -0.392630 m/s,
      posRepo size: 4

2025-09-20T00:06:47.931Z,1758326807.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.02 m.
2025-09-20T00:06:47.939Z,1758326807.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.022751 m,
      nav range: 28.374989 m,
      bearing: 251.426375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 235.838564 deg,
      new cmd heading: 235.756986 deg.

2025-09-20T00:06:47.952Z,1758326807.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114736 target range: 29.022751 and range: 29.10 m.
2025-09-20T00:06:48.149Z,1758326808.149 [DAT](INFO): DAT read: Rx Time:00:06:49.0820 

2025-09-20T00:06:48.150Z,1758326808.150 [DAT](INFO): Rx dataTimestamp_ set to:1758326808.149626
2025-09-20T00:06:48.151Z,1758326808.151 [DAT](INFO): DAT read: Bearing  24.6,  12.8 (Local)

2025-09-20T00:06:48.151Z,1758326808.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.6,  12.8 (Local)

2025-09-20T00:06:48.154Z,1758326808.154 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.3

2025-09-20T00:06:48.158Z,1758326808.158 [DAT](INFO): DAT read: 00:06:49.0820 LVL= 25952, 31185, 27922, 32755, AGC= 60, IDX= 496, 0.48, 2.876, 0.941, 2.584, 2.487, PHS= 0.491,-1.501, 0.053, RAW= 137.9,  10.6, CAL= 137.4,  11.6, ROT=  12.6, -11.6

2025-09-20T00:06:48.159Z,1758326808.159 [DAT](INFO): got valid direction response:
 00:06:49.0820 LVL= 25952, 31185, 27922, 32755, AGC= 60, IDX= 496, 0.48, 2.876, 0.941, 2.584, 2.487, PHS= 0.491,-1.501, 0.053, RAW= 137.9,  10.6, CAL= 137.4,  11.6, ROT=  12.6, -11.6

2025-09-20T00:06:48.159Z,1758326808.159 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-09-20T00:06:48.160Z,1758326808.160 [DAT](INFO): direction in FSK: [0.955984,0.213688,0.201078]
2025-09-20T00:06:48.161Z,1758326808.161 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:48.170Z,1758326808.170 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.645494
2025-09-20T00:06:48.369Z,1758326808.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.499966 s,
      deltaX: -0.300001 m,
      approachRate: -0.600043 m/s,
      rangeRepo size: 4

2025-09-20T00:06:48.371Z,1758326808.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.723547 m,
      bearing: 250.818737 deg,
      lat: 36.779418 deg,
      lon: -121.859732 deg,
      deltaT: 0.499966 s,
      deltaX: -0.299204 m,
      approachRate: -0.598448 m/s,
      posRepo size: 4

2025-09-20T00:06:48.373Z,1758326808.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.72 m.
2025-09-20T00:06:48.375Z,1758326808.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.723547 m,
      nav range: 28.201162 m,
      bearing: 251.308322 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069954 deg/s,
      cmd heading: 235.756984 deg,
      new cmd heading: 235.694640 deg.

2025-09-20T00:06:48.377Z,1758326808.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113647 target range: 28.723547 and range: 28.80 m.
2025-09-20T00:06:48.401Z,1758326808.401 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.876587
2025-09-20T00:06:48.657Z,1758326808.657 [DAT](INFO): DAT read: Rx Time:00:06:49.5820 

2025-09-20T00:06:48.659Z,1758326808.659 [DAT](INFO): Rx dataTimestamp_ set to:1758326808.657908
2025-09-20T00:06:48.663Z,1758326808.663 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.3

2025-09-20T00:06:48.665Z,1758326808.665 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-09-20T00:06:48.671Z,1758326808.671 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.146049
2025-09-20T00:06:48.849Z,1758326808.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:48.852Z,1758326808.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.508282 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:48.853Z,1758326808.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.72 m.
2025-09-20T00:06:48.855Z,1758326808.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.723547 m,
      nav range: 27.996897 m,
      bearing: 251.288670 deg,
      approach rate: -0.423447 m/s,
      LOS rate: -0.041035 deg/s,
      cmd heading: 235.694638 deg,
      new cmd heading: 235.655048 deg.

2025-09-20T00:06:48.857Z,1758326808.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112957 target range: 28.723547 and range: 28.80 m.
2025-09-20T00:06:48.905Z,1758326808.905 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.380926
2025-09-20T00:06:49.157Z,1758326809.157 [DAT](INFO): DAT read: Rx Time:00:06:50.0818 

2025-09-20T00:06:49.158Z,1758326809.158 [DAT](INFO): Rx dataTimestamp_ set to:1758326809.157591
2025-09-20T00:06:49.159Z,1758326809.159 [DAT](INFO): DAT read: Bearing  24.9,  12.8 (Local)

2025-09-20T00:06:49.159Z,1758326809.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.9,  12.8 (Local)

2025-09-20T00:06:49.162Z,1758326809.162 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed 0.3

2025-09-20T00:06:49.166Z,1758326809.166 [DAT](INFO): DAT read: 00:06:50.0818 LVL= 26992, 32753, 28594, 32755, AGC= 60, IDX= 510, 0.04, 2.922, 0.967, 2.629, 2.538, PHS= 0.486,-1.526, 0.047, RAW= 138.0,  10.9, CAL= 137.5,  11.9, ROT=  12.5, -11.9

2025-09-20T00:06:49.167Z,1758326809.167 [DAT](INFO): got valid direction response:
 00:06:50.0818 LVL= 26992, 32753, 28594, 32755, AGC= 60, IDX= 510, 0.04, 2.922, 0.967, 2.629, 2.538, PHS= 0.486,-1.526, 0.047, RAW= 138.0,  10.9, CAL= 137.5,  11.9, ROT=  12.5, -11.9

2025-09-20T00:06:49.167Z,1758326809.167 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-09-20T00:06:49.168Z,1758326809.168 [DAT](INFO): direction in FSK: [0.955314,0.211788,0.206204]
2025-09-20T00:06:49.169Z,1758326809.169 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:49.173Z,1758326809.173 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.648603
2025-09-20T00:06:49.286Z,1758326809.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.499683 s,
      deltaX: -0.299999 m,
      approachRate: -0.600379 m/s,
      rangeRepo size: 4

2025-09-20T00:06:49.294Z,1758326809.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.424307 m,
      bearing: 250.720493 deg,
      lat: 36.779418 deg,
      lon: -121.859731 deg,
      deltaT: 1.007965 s,
      deltaX: -0.299240 m,
      approachRate: -0.296876 m/s,
      posRepo size: 4

2025-09-20T00:06:49.295Z,1758326809.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.42 m.
2025-09-20T00:06:49.308Z,1758326809.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.424307 m,
      nav range: 27.778269 m,
      bearing: 251.189734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041035 deg/s,
      cmd heading: 235.655050 deg,
      new cmd heading: 235.619394 deg.

2025-09-20T00:06:49.310Z,1758326809.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112334 target range: 28.424307 and range: 28.50 m.
2025-09-20T00:06:49.410Z,1758326809.410 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.886080
2025-09-20T00:06:49.631Z,1758326809.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.42 m.
2025-09-20T00:06:49.634Z,1758326809.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.424307 m,
      nav range: 27.625872 m,
      bearing: 251.174322 deg,
      approach rate: -0.441366 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.619397 deg,
      new cmd heading: 235.588402 deg.

2025-09-20T00:06:49.635Z,1758326809.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111794 target range: 28.424307 and range: 28.50 m.
2025-09-20T00:06:49.665Z,1758326809.665 [DAT](INFO): DAT read: Rx Time:00:06:50.5818 

2025-09-20T00:06:49.667Z,1758326809.667 [DAT](INFO): Rx dataTimestamp_ set to:1758326809.665768
2025-09-20T00:06:49.670Z,1758326809.670 [DAT](INFO): DAT read: Bearing  26.6,  13.0 (Local)

2025-09-20T00:06:49.671Z,1758326809.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.6,  13.0 (Local)

2025-09-20T00:06:49.678Z,1758326809.678 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed 0.3

2025-09-20T00:06:49.694Z,1758326809.694 [DAT](INFO): DAT read: 00:06:50.5818 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.08, 2.624, 0.686, 2.330, 2.292, PHS= 0.434,-1.562,-0.007, RAW= 137.9,  12.5, CAL= 137.2,  13.5, ROT=  12.8, -13.5

2025-09-20T00:06:49.702Z,1758326809.702 [DAT](INFO): got valid direction response:
 00:06:50.5818 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.08, 2.624, 0.686, 2.330, 2.292, PHS= 0.434,-1.562,-0.007, RAW= 137.9,  12.5, CAL= 137.2,  13.5, ROT=  12.8, -13.5

2025-09-20T00:06:49.713Z,1758326809.713 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-09-20T00:06:49.724Z,1758326809.724 [DAT](INFO): direction in FSK: [0.948206,0.215427,0.233445]
2025-09-20T00:06:49.725Z,1758326809.725 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:49.747Z,1758326809.747 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.222750
2025-09-20T00:06:49.913Z,1758326809.913 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.388891
2025-09-20T00:06:50.091Z,1758326810.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.508177 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:50.097Z,1758326810.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.424292 m,
      bearing: 251.066373 deg,
      lat: 36.779417 deg,
      lon: -121.859731 deg,
      deltaT: 0.508177 s,
      deltaX: -0.000015 m,
      approachRate: -0.000030 m/s,
      posRepo size: 4

2025-09-20T00:06:50.098Z,1758326810.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.42 m.
2025-09-20T00:06:50.105Z,1758326810.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.424292 m,
      nav range: 27.462429 m,
      bearing: 250.988543 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.588415 deg,
      new cmd heading: 235.547164 deg.

2025-09-20T00:06:50.106Z,1758326810.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111073 target range: 28.424292 and range: 28.50 m.
2025-09-20T00:06:50.171Z,1758326810.171 [DAT](INFO): DAT read: Rx Time:00:06:51.0815 

2025-09-20T00:06:50.171Z,1758326810.171 [DAT](INFO): Rx dataTimestamp_ set to:1758326810.170753
2025-09-20T00:06:50.174Z,1758326810.174 [DAT](INFO): DAT read: Bearing  25.6,  13.0 (Local)

2025-09-20T00:06:50.175Z,1758326810.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.6,  13.0 (Local)

2025-09-20T00:06:50.178Z,1758326810.178 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed 0.3

2025-09-20T00:06:50.210Z,1758326810.210 [DAT](INFO): DAT read: 00:06:51.0815 LVL= 29728, 30705, 32242, 32755, AGC= 60, IDX= 508,-0.27, 1.269,-0.674, 0.976, 0.908, PHS= 0.462,-1.537, 0.023, RAW= 137.9,  11.5, CAL= 137.4,  12.6, ROT=  12.6, -12.6

2025-09-20T00:06:50.211Z,1758326810.211 [DAT](INFO): got valid direction response:
 00:06:51.0815 LVL= 29728, 30705, 32242, 32755, AGC= 60, IDX= 508,-0.27, 1.269,-0.674, 0.976, 0.908, PHS= 0.462,-1.537, 0.023, RAW= 137.9,  11.5, CAL= 137.4,  12.6, ROT=  12.6, -12.6

2025-09-20T00:06:50.211Z,1758326810.211 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-09-20T00:06:50.226Z,1758326810.226 [DAT](INFO): direction in FSK: [0.952414,0.212890,0.218143]
2025-09-20T00:06:50.227Z,1758326810.227 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:50.231Z,1758326810.231 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.706600
2025-09-20T00:06:50.417Z,1758326810.417 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.892895
2025-09-20T00:06:50.537Z,1758326810.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.504985 s,
      deltaX: -0.400000 m,
      approachRate: -0.792102 m/s,
      rangeRepo size: 4

2025-09-20T00:06:50.539Z,1758326810.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.025354 m,
      bearing: 250.828405 deg,
      lat: 36.779417 deg,
      lon: -121.859731 deg,
      deltaT: 0.504985 s,
      deltaX: -0.398937 m,
      approachRate: -0.789998 m/s,
      posRepo size: 4

2025-09-20T00:06:50.544Z,1758326810.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.03 m.
2025-09-20T00:06:50.547Z,1758326810.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.025354 m,
      nav range: 27.284012 m,
      bearing: 250.828501 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.547160 deg,
      new cmd heading: 235.507516 deg.

2025-09-20T00:06:50.547Z,1758326810.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110382 target range: 28.025354 and range: 28.10 m.
2025-09-20T00:06:50.675Z,1758326810.675 [DAT](INFO): DAT read: Rx Time:00:06:51.5814 

2025-09-20T00:06:50.678Z,1758326810.678 [DAT](INFO): Rx dataTimestamp_ set to:1758326810.677383
2025-09-20T00:06:50.683Z,1758326810.683 [DAT](INFO): DAT read: Bearing  25.0,  12.8 (Local)

2025-09-20T00:06:50.684Z,1758326810.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.0,  12.8 (Local)

2025-09-20T00:06:50.706Z,1758326810.706 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed 0.3

2025-09-20T00:06:50.731Z,1758326810.731 [DAT](INFO): DAT read: 00:06:51.5814 LVL= 29584, 32753, 31666, 32755, AGC= 60, IDX= 506, 0.46, 2.443, 0.503, 2.157, 2.068, PHS= 0.476,-1.520, 0.045, RAW= 138.1,  11.0, CAL= 137.6,  12.0, ROT=  12.4, -12.0

2025-09-20T00:06:50.739Z,1758326810.739 [DAT](INFO): got valid direction response:
 00:06:51.5814 LVL= 29584, 32753, 31666, 32755, AGC= 60, IDX= 506, 0.46, 2.443, 0.503, 2.157, 2.068, PHS= 0.476,-1.520, 0.045, RAW= 138.1,  11.0, CAL= 137.6,  12.0, ROT=  12.4, -12.0

2025-09-20T00:06:50.767Z,1758326810.767 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-09-20T00:06:50.767Z,1758326810.767 [DAT](INFO): direction in FSK: [0.955330,0.210043,0.207912]
2025-09-20T00:06:50.776Z,1758326810.776 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:50.788Z,1758326810.788 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.255463
2025-09-20T00:06:50.921Z,1758326810.921 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.396851
2025-09-20T00:06:51.038Z,1758326811.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.506630 s,
      deltaX: -0.200001 m,
      approachRate: -0.394767 m/s,
      rangeRepo size: 4

2025-09-20T00:06:51.040Z,1758326811.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.825876 m,
      bearing: 250.560622 deg,
      lat: 36.779417 deg,
      lon: -121.859731 deg,
      deltaT: 0.506630 s,
      deltaX: -0.199478 m,
      approachRate: -0.393735 m/s,
      posRepo size: 4

2025-09-20T00:06:51.044Z,1758326811.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-09-20T00:06:51.047Z,1758326811.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.825876 m,
      nav range: 27.069687 m,
      bearing: 250.760172 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.507518 deg,
      new cmd heading: 235.462213 deg.

2025-09-20T00:06:51.052Z,1758326811.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109591 target range: 27.825876 and range: 27.90 m.
2025-09-20T00:06:51.174Z,1758326811.174 [DAT](INFO): DAT read: Rx Time:00:06:52.0812 

2025-09-20T00:06:51.174Z,1758326811.174 [DAT](INFO): Rx dataTimestamp_ set to:1758326811.173770
2025-09-20T00:06:51.175Z,1758326811.175 [DAT](INFO): DAT read: Bearing  25.2,  13.1 (Local)

2025-09-20T00:06:51.176Z,1758326811.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.2,  13.1 (Local)

2025-09-20T00:06:51.178Z,1758326811.178 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.4

2025-09-20T00:06:51.182Z,1758326811.182 [DAT](INFO): DAT read: 00:06:52.0812 LVL= 29280, 32753, 29282, 32755, AGC= 60, IDX= 504, 0.25, 1.632,-0.294, 1.343, 1.262, PHS= 0.473,-1.510, 0.037, RAW= 137.9,  11.1, CAL= 137.4,  12.1, ROT=  12.6, -12.1

2025-09-20T00:06:51.183Z,1758326811.183 [DAT](INFO): got valid direction response:
 00:06:52.0812 LVL= 29280, 32753, 29282, 32755, AGC= 60, IDX= 504, 0.25, 1.632,-0.294, 1.343, 1.262, PHS= 0.473,-1.510, 0.037, RAW= 137.9,  11.1, CAL= 137.4,  12.1, ROT=  12.6, -12.1

2025-09-20T00:06:51.184Z,1758326811.184 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-09-20T00:06:51.185Z,1758326811.185 [DAT](INFO): direction in FSK: [0.954235,0.213297,0.209619]
2025-09-20T00:06:51.185Z,1758326811.185 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:51.188Z,1758326811.188 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.664288
2025-09-20T00:06:51.425Z,1758326811.425 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.900806
2025-09-20T00:06:51.426Z,1758326811.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.496387 s,
      deltaX: -0.299999 m,
      approachRate: -0.604366 m/s,
      rangeRepo size: 4

2025-09-20T00:06:51.433Z,1758326811.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.526674 m,
      bearing: 250.764540 deg,
      lat: 36.779417 deg,
      lon: -121.859731 deg,
      deltaT: 0.496387 s,
      deltaX: -0.299202 m,
      approachRate: -0.602759 m/s,
      posRepo size: 4

2025-09-20T00:06:51.434Z,1758326811.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.53 m.
2025-09-20T00:06:51.449Z,1758326811.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.526674 m,
      nav range: 26.896114 m,
      bearing: 250.762375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.462220 deg,
      new cmd heading: 235.427817 deg.

2025-09-20T00:06:51.458Z,1758326811.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108991 target range: 27.526674 and range: 27.60 m.
2025-09-20T00:06:51.679Z,1758326811.679 [DAT](INFO): DAT read: Rx Time:00:06:52.5812 

2025-09-20T00:06:51.680Z,1758326811.680 [DAT](INFO): Rx dataTimestamp_ set to:1758326811.679684
2025-09-20T00:06:51.681Z,1758326811.681 [DAT](INFO): DAT read: Bearing  24.4,  13.3 (Local)

2025-09-20T00:06:51.682Z,1758326811.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.4,  13.3 (Local)

2025-09-20T00:06:51.684Z,1758326811.684 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.4

2025-09-20T00:06:51.689Z,1758326811.689 [DAT](INFO): DAT read: 00:06:52.5812 LVL= 27376, 32753, 27426, 32755, AGC= 59, IDX= 504, 0.11, 1.279,-0.608, 0.994, 0.894, PHS= 0.487,-1.457, 0.056, RAW= 137.8,  10.4, CAL= 137.4,  11.4, ROT=  12.6, -11.4

2025-09-20T00:06:51.696Z,1758326811.696 [DAT](INFO): got valid direction response:
 00:06:52.5812 LVL= 27376, 32753, 27426, 32755, AGC= 59, IDX= 504, 0.11, 1.279,-0.608, 0.994, 0.894, PHS= 0.487,-1.457, 0.056, RAW= 137.8,  10.4, CAL= 137.4,  11.4, ROT=  12.6, -11.4

2025-09-20T00:06:51.697Z,1758326811.697 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-09-20T00:06:51.700Z,1758326811.700 [DAT](INFO): direction in FSK: [0.956663,0.213840,0.197657]
2025-09-20T00:06:51.701Z,1758326811.701 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:51.758Z,1758326811.758 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.234243
2025-09-20T00:06:51.929Z,1758326811.929 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.404902
2025-09-20T00:06:52.011Z,1758326812.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.505914 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:52.017Z,1758326812.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.526653 m,
      bearing: 250.623265 deg,
      lat: 36.779417 deg,
      lon: -121.859732 deg,
      deltaT: 0.505914 s,
      deltaX: -0.000021 m,
      approachRate: -0.000041 m/s,
      posRepo size: 4

2025-09-20T00:06:52.018Z,1758326812.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.53 m.
2025-09-20T00:06:52.025Z,1758326812.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.526653 m,
      nav range: 26.701412 m,
      bearing: 250.751192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.427823 deg,
      new cmd heading: 235.374851 deg.

2025-09-20T00:06:52.026Z,1758326812.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108066 target range: 27.526653 and range: 27.60 m.
2025-09-20T00:06:52.181Z,1758326812.181 [DAT](INFO): DAT read: Rx Time:00:06:53.0809 

2025-09-20T00:06:52.182Z,1758326812.182 [DAT](INFO): Rx dataTimestamp_ set to:1758326812.181581
2025-09-20T00:06:52.183Z,1758326812.183 [DAT](INFO): DAT read: Bearing  25.1,  13.3 (Local)

2025-09-20T00:06:52.183Z,1758326812.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.1,  13.3 (Local)

2025-09-20T00:06:52.186Z,1758326812.186 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.4

2025-09-20T00:06:52.190Z,1758326812.190 [DAT](INFO): DAT read: 00:06:53.0809 LVL= 24944, 32753, 27186, 32755, AGC= 59, IDX= 502,-0.15,-1.081,-2.954,-1.363,-1.442, PHS= 0.463,-1.466, 0.035, RAW= 137.8,  11.0, CAL= 137.3,  12.0, ROT=  12.7, -12.0

2025-09-20T00:06:52.191Z,1758326812.191 [DAT](INFO): got valid direction response:
 00:06:53.0809 LVL= 24944, 32753, 27186, 32755, AGC= 59, IDX= 502,-0.15,-1.081,-2.954,-1.363,-1.442, PHS= 0.463,-1.466, 0.035, RAW= 137.8,  11.0, CAL= 137.3,  12.0, ROT=  12.7, -12.0

2025-09-20T00:06:52.191Z,1758326812.191 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-09-20T00:06:52.193Z,1758326812.193 [DAT](INFO): direction in FSK: [0.954217,0.215042,0.207912]
2025-09-20T00:06:52.193Z,1758326812.193 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:52.197Z,1758326812.197 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.672812
2025-09-20T00:06:52.423Z,1758326812.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.501897 s,
      deltaX: -0.400000 m,
      approachRate: -0.796975 m/s,
      rangeRepo size: 4

2025-09-20T00:06:52.429Z,1758326812.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.127718 m,
      bearing: 250.692314 deg,
      lat: 36.779417 deg,
      lon: -121.859731 deg,
      deltaT: 0.501897 s,
      deltaX: -0.398935 m,
      approachRate: -0.794855 m/s,
      posRepo size: 4

2025-09-20T00:06:52.430Z,1758326812.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-09-20T00:06:52.433Z,1758326812.433 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.908855
2025-09-20T00:06:52.437Z,1758326812.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.127718 m,
      nav range: 26.455757 m,
      bearing: 250.684957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.374848 deg,
      new cmd heading: 235.337849 deg.

2025-09-20T00:06:52.438Z,1758326812.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107420 target range: 27.127718 and range: 27.20 m.
2025-09-20T00:06:52.686Z,1758326812.686 [DAT](INFO): DAT read: Rx Time:00:06:53.5809 

2025-09-20T00:06:52.687Z,1758326812.687 [DAT](INFO): Rx dataTimestamp_ set to:1758326812.686307
2025-09-20T00:06:52.689Z,1758326812.689 [DAT](INFO): DAT read: Bearing  24.4,  12.7 (Local)

2025-09-20T00:06:52.690Z,1758326812.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.4,  12.7 (Local)

2025-09-20T00:06:52.697Z,1758326812.697 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.4

2025-09-20T00:06:52.815Z,1758326812.815 [DAT](INFO): DAT read: 00:06:53.5809 LVL= 23280, 32753, 27826, 32755, AGC= 59, IDX= 501, 0.32, 2.452, 0.560, 2.187, 2.078, PHS= 0.476,-1.473, 0.065, RAW= 138.5,  10.5, CAL= 138.0,  11.5, ROT=  12.0, -11.5

2025-09-20T00:06:52.833Z,1758326812.833 [DAT](INFO): got valid direction response:
 00:06:53.5809 LVL= 23280, 32753, 27826, 32755, AGC= 59, IDX= 501, 0.32, 2.452, 0.560, 2.187, 2.078, PHS= 0.476,-1.473, 0.065, RAW= 138.5,  10.5, CAL= 138.0,  11.5, ROT=  12.0, -11.5

2025-09-20T00:06:52.833Z,1758326812.833 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-09-20T00:06:52.834Z,1758326812.834 [DAT](INFO): direction in FSK: [0.958511,0.203738,0.199368]
2025-09-20T00:06:52.834Z,1758326812.834 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:52.850Z,1758326812.850 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.325949
2025-09-20T00:06:52.937Z,1758326812.937 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.412867
2025-09-20T00:06:53.025Z,1758326813.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.504726 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:53.027Z,1758326813.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.127768 m,
      bearing: 249.909223 deg,
      lat: 36.779416 deg,
      lon: -121.859732 deg,
      deltaT: 0.504726 s,
      deltaX: 0.000050 m,
      approachRate: 0.000098 m/s,
      posRepo size: 4

2025-09-20T00:06:53.027Z,1758326813.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-09-20T00:06:53.034Z,1758326813.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.127768 m,
      nav range: 26.267782 m,
      bearing: 250.400809 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.337856 deg,
      new cmd heading: 235.284287 deg.

2025-09-20T00:06:53.035Z,1758326813.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106485 target range: 27.127768 and range: 27.20 m.
2025-09-20T00:06:53.190Z,1758326813.190 [DAT](INFO): DAT read: Rx Time:00:06:54.0807 

2025-09-20T00:06:53.190Z,1758326813.190 [DAT](INFO): Rx dataTimestamp_ set to:1758326813.190093
2025-09-20T00:06:53.192Z,1758326813.192 [DAT](INFO): DAT read: Bearing  24.8,  12.7 (Local)

2025-09-20T00:06:53.192Z,1758326813.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.8,  12.7 (Local)

2025-09-20T00:06:53.194Z,1758326813.194 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.4

2025-09-20T00:06:53.199Z,1758326813.199 [DAT](INFO): DAT read: 00:06:54.0807 LVL= 25120, 32017, 29682, 32755, AGC= 60, IDX= 499,-0.08, 1.184,-0.727, 0.919, 0.821, PHS= 0.466,-1.503, 0.055, RAW= 138.6,  10.9, CAL= 138.1,  11.9, ROT=  11.9, -11.9

2025-09-20T00:06:53.200Z,1758326813.200 [DAT](INFO): got valid direction response:
 00:06:54.0807 LVL= 25120, 32017, 29682, 32755, AGC= 60, IDX= 499,-0.08, 1.184,-0.727, 0.919, 0.821, PHS= 0.466,-1.503, 0.055, RAW= 138.6,  10.9, CAL= 138.1,  11.9, ROT=  11.9, -11.9

2025-09-20T00:06:53.201Z,1758326813.201 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-09-20T00:06:53.201Z,1758326813.201 [DAT](INFO): direction in FSK: [0.957480,0.201773,0.206204]
2025-09-20T00:06:53.202Z,1758326813.202 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:53.205Z,1758326813.205 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.681187
2025-09-20T00:06:53.387Z,1758326813.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.503786 s,
      deltaX: -0.300001 m,
      approachRate: -0.595493 m/s,
      rangeRepo size: 4

2025-09-20T00:06:53.393Z,1758326813.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.828564 m,
      bearing: 249.823262 deg,
      lat: 36.779416 deg,
      lon: -121.859731 deg,
      deltaT: 0.503786 s,
      deltaX: -0.299204 m,
      approachRate: -0.593911 m/s,
      posRepo size: 4

2025-09-20T00:06:53.394Z,1758326813.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-09-20T00:06:53.401Z,1758326813.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.828564 m,
      nav range: 26.078985 m,
      bearing: 250.348907 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.284280 deg,
      new cmd heading: 235.251302 deg.

2025-09-20T00:06:53.402Z,1758326813.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105910 target range: 26.828564 and range: 26.90 m.
2025-09-20T00:06:53.445Z,1758326813.445 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.919807
2025-09-20T00:06:53.694Z,1758326813.694 [DAT](INFO): DAT read: Rx Time:00:06:54.5806 

2025-09-20T00:06:53.694Z,1758326813.694 [DAT](INFO): Rx dataTimestamp_ set to:1758326813.693738
2025-09-20T00:06:53.695Z,1758326813.695 [DAT](INFO): DAT read: Bearing  25.0,  12.5 (Local)

2025-09-20T00:06:53.696Z,1758326813.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.0,  12.5 (Local)

2025-09-20T00:06:53.698Z,1758326813.698 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.4

2025-09-20T00:06:53.703Z,1758326813.703 [DAT](INFO): DAT read: 00:06:54.5806 LVL= 28288, 32753, 31666, 32755, AGC= 59, IDX= 498, 0.38,-2.285, 2.088,-2.542,-2.638, PHS= 0.455,-1.512, 0.052, RAW= 138.8,  11.2, CAL= 138.3,  12.2, ROT=  11.7, -12.2

2025-09-20T00:06:53.707Z,1758326813.707 [DAT](INFO): got valid direction response:
 00:06:54.5806 LVL= 28288, 32753, 31666, 32755, AGC= 59, IDX= 498, 0.38,-2.285, 2.088,-2.542,-2.638, PHS= 0.455,-1.512, 0.052, RAW= 138.8,  11.2, CAL= 138.3,  12.2, ROT=  11.7, -12.2

2025-09-20T00:06:53.712Z,1758326813.712 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-09-20T00:06:53.713Z,1758326813.713 [DAT](INFO): direction in FSK: [0.957108,0.198208,0.211325]
2025-09-20T00:06:53.713Z,1758326813.713 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:53.745Z,1758326813.745 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.215170
2025-09-20T00:06:53.825Z,1758326813.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503645 s,
      deltaX: -0.199999 m,
      approachRate: -0.397103 m/s,
      rangeRepo size: 4

2025-09-20T00:06:53.827Z,1758326813.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.629097 m,
      bearing: 249.491920 deg,
      lat: 36.779413 deg,
      lon: -121.859731 deg,
      deltaT: 0.503645 s,
      deltaX: -0.199467 m,
      approachRate: -0.396046 m/s,
      posRepo size: 4

2025-09-20T00:06:53.833Z,1758326813.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.63 m.
2025-09-20T00:06:53.836Z,1758326813.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.629097 m,
      nav range: 26.012758 m,
      bearing: 249.786819 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.251304 deg,
      new cmd heading: 235.211963 deg.

2025-09-20T00:06:53.837Z,1758326813.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105223 target range: 26.629097 and range: 26.70 m.
2025-09-20T00:06:53.951Z,1758326813.951 [DAT](INFO): DAT read: Rx Time:00:06:55.0804 

2025-09-20T00:06:53.953Z,1758326813.953 [DAT](INFO): Rx dataTimestamp_ set to:1758326813.951525
2025-09-20T00:06:53.958Z,1758326813.958 [DAT](INFO): DAT read: Bearing  23.9,  12.4 (Local)

2025-09-20T00:06:53.959Z,1758326813.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.9,  12.4 (Local)

2025-09-20T00:06:53.973Z,1758326813.973 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.4

2025-09-20T00:06:54.000Z,1758326814.000 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-09-20T00:06:54.001Z,1758326814.001 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.476789
2025-09-20T00:06:54.205Z,1758326814.205 [DAT](INFO): DAT read: 00:06:55.0804 LVL= 29072, 32753, 32754, 32755, AGC= 60, IDX= 496,-0.01, 2.201, 0.282, 1.945, 1.815, PHS= 0.488,-1.488, 0.086, RAW= 138.9,  10.1, CAL= 138.4,  11.1, ROT=  11.6, -11.1

2025-09-20T00:06:54.206Z,1758326814.206 [DAT](INFO): got valid direction response:
 00:06:55.0804 LVL= 29072, 32753, 32754, 32755, AGC= 60, IDX= 496,-0.01, 2.201, 0.282, 1.945, 1.815, PHS= 0.488,-1.488, 0.086, RAW= 138.9,  10.1, CAL= 138.4,  11.1, ROT=  11.6, -11.1

2025-09-20T00:06:54.206Z,1758326814.206 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-09-20T00:06:54.207Z,1758326814.207 [DAT](INFO): direction in FSK: [0.961250,0.197316,0.192522]
2025-09-20T00:06:54.210Z,1758326814.210 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.686325
2025-09-20T00:06:54.395Z,1758326814.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.257787 s,
      deltaX: -0.300001 m,
      approachRate: -1.163756 m/s,
      rangeRepo size: 4

2025-09-20T00:06:54.405Z,1758326814.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.329914 m,
      bearing: 249.297662 deg,
      lat: 36.779413 deg,
      lon: -121.859731 deg,
      deltaT: 0.257787 s,
      deltaX: -0.299183 m,
      approachRate: -1.160582 m/s,
      posRepo size: 4

2025-09-20T00:06:54.406Z,1758326814.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-09-20T00:06:54.415Z,1758326814.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.329914 m,
      nav range: 25.706642 m,
      bearing: 249.628192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.211962 deg,
      new cmd heading: 235.160868 deg.

2025-09-20T00:06:54.421Z,1758326814.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104331 target range: 26.329914 and range: 26.40 m.
2025-09-20T00:06:54.457Z,1758326814.457 [DAT](INFO): DAT read: Rx Time:00:06:55.5802 

2025-09-20T00:06:54.459Z,1758326814.459 [DAT](INFO): Rx dataTimestamp_ set to:1758326814.457796
2025-09-20T00:06:54.463Z,1758326814.463 [DAT](INFO): DAT read: Bearing  25.8,  12.4 (Local)

2025-09-20T00:06:54.464Z,1758326814.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.8,  12.4 (Local)

2025-09-20T00:06:54.474Z,1758326814.474 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.4

2025-09-20T00:06:54.486Z,1758326814.486 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-09-20T00:06:54.496Z,1758326814.496 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.972183
2025-09-20T00:06:54.713Z,1758326814.713 [DAT](INFO): DAT read: 00:06:55.5802 LVL= 29664, 32241, 32754, 32755, AGC= 60, IDX= 511,-0.42, 1.733,-0.179, 1.479, 1.407, PHS= 0.428,-1.541, 0.027, RAW= 138.9,  12.0, CAL= 138.3,  13.0, ROT=  11.7, -13.0

2025-09-20T00:06:54.715Z,1758326814.715 [DAT](INFO): got valid direction response:
 00:06:55.5802 LVL= 29664, 32241, 32754, 32755, AGC= 60, IDX= 511,-0.42, 1.733,-0.179, 1.479, 1.407, PHS= 0.428,-1.541, 0.027, RAW= 138.9,  12.0, CAL= 138.3,  13.0, ROT=  11.7, -13.0

2025-09-20T00:06:54.715Z,1758326814.715 [DAT](INFO): #Rx 45: Read direction message, but no range.
2025-09-20T00:06:54.716Z,1758326814.716 [DAT](INFO): direction in FSK: [0.954125,0.197590,0.224951]
2025-09-20T00:06:54.726Z,1758326814.726 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.200748
2025-09-20T00:06:54.961Z,1758326814.961 [DAT](INFO): DAT read: Rx Time:00:06:56.0800 

2025-09-20T00:06:54.963Z,1758326814.963 [DAT](INFO): Rx dataTimestamp_ set to:1758326814.961714
2025-09-20T00:06:54.967Z,1758326814.967 [DAT](INFO): DAT read: Bearing  25.5,  12.1 (Local)

2025-09-20T00:06:54.968Z,1758326814.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.5,  12.1 (Local)

2025-09-20T00:06:54.983Z,1758326814.983 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.4

2025-09-20T00:06:55.001Z,1758326815.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.506271 s,
      deltaX: -0.299999 m,
      approachRate: -0.592566 m/s,
      rangeRepo size: 4

2025-09-20T00:06:55.003Z,1758326815.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.030720 m,
      bearing: 249.292777 deg,
      lat: 36.779413 deg,
      lon: -121.859731 deg,
      deltaT: 0.506271 s,
      deltaX: -0.299194 m,
      approachRate: -0.590977 m/s,
      posRepo size: 4

2025-09-20T00:06:55.003Z,1758326815.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.03 m.
2025-09-20T00:06:55.005Z,1758326815.005 [DAT](INFO): DAT read: 00:06:56.0800 LVL= 28080, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.14, 1.599,-0.327, 1.354, 1.267, PHS= 0.434,-1.549, 0.043, RAW= 139.3,  11.8, CAL= 138.6,  12.8, ROT=  11.4, -12.8

2025-09-20T00:06:55.006Z,1758326815.006 [DAT](INFO): got valid direction response:
 00:06:56.0800 LVL= 28080, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.14, 1.599,-0.327, 1.354, 1.267, PHS= 0.434,-1.549, 0.043, RAW= 139.3,  11.8, CAL= 138.6,  12.8, ROT=  11.4, -12.8

2025-09-20T00:06:55.006Z,1758326815.006 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-09-20T00:06:55.007Z,1758326815.007 [DAT](INFO): direction in FSK: [0.955911,0.192745,0.221548]
2025-09-20T00:06:55.008Z,1758326815.008 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:55.014Z,1758326815.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.030720 m,
      nav range: 25.456547 m,
      bearing: 249.464179 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.160872 deg,
      new cmd heading: 235.108405 deg.

2025-09-20T00:06:55.015Z,1758326815.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103416 target range: 26.030720 and range: 26.10 m.
2025-09-20T00:06:55.019Z,1758326815.019 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.495016
2025-09-20T00:06:55.209Z,1758326815.209 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.684971
2025-09-20T00:06:55.398Z,1758326815.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503918 s,
      deltaX: -0.300001 m,
      approachRate: -0.595337 m/s,
      rangeRepo size: 4

2025-09-20T00:06:55.400Z,1758326815.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.731514 m,
      bearing: 248.938772 deg,
      lat: 36.779412 deg,
      lon: -121.859730 deg,
      deltaT: 0.503918 s,
      deltaX: -0.299206 m,
      approachRate: -0.593759 m/s,
      posRepo size: 4

2025-09-20T00:06:55.400Z,1758326815.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.73 m.
2025-09-20T00:06:55.403Z,1758326815.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.731514 m,
      nav range: 25.167999 m,
      bearing: 249.356798 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.108416 deg,
      new cmd heading: 235.070853 deg.

2025-09-20T00:06:55.404Z,1758326815.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102760 target range: 25.731514 and range: 25.80 m.
2025-09-20T00:06:55.466Z,1758326815.466 [DAT](INFO): DAT read: Rx Time:00:06:56.5799 

2025-09-20T00:06:55.467Z,1758326815.467 [DAT](INFO): Rx dataTimestamp_ set to:1758326815.466271
2025-09-20T00:06:55.471Z,1758326815.471 [DAT](INFO): DAT read: Bearing  24.8,  12.3 (Local)

2025-09-20T00:06:55.472Z,1758326815.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.8,  12.3 (Local)

2025-09-20T00:06:55.478Z,1758326815.478 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-09-20T00:06:55.480Z,1758326815.480 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-09-20T00:06:55.483Z,1758326815.483 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.958746
2025-09-20T00:06:55.718Z,1758326815.718 [DAT](INFO): DAT read: 00:06:56.5799 LVL= 26432, 32753, 31810, 32755, AGC= 60, IDX= 508,-0.13, 1.232,-0.683, 0.980, 0.875, PHS= 0.459,-1.513, 0.061, RAW= 139.0,  11.0, CAL= 138.5,  12.0, ROT=  11.5, -12.0

2025-09-20T00:06:55.719Z,1758326815.719 [DAT](INFO): got valid direction response:
 00:06:56.5799 LVL= 26432, 32753, 31810, 32755, AGC= 60, IDX= 508,-0.13, 1.232,-0.683, 0.980, 0.875, PHS= 0.459,-1.513, 0.061, RAW= 139.0,  11.0, CAL= 138.5,  12.0, ROT=  11.5, -12.0

2025-09-20T00:06:55.719Z,1758326815.719 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-09-20T00:06:55.728Z,1758326815.728 [DAT](INFO): direction in FSK: [0.958511,0.195011,0.207912]
2025-09-20T00:06:55.740Z,1758326815.740 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.211325
2025-09-20T00:06:55.915Z,1758326815.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504557 s,
      deltaX: -0.099998 m,
      approachRate: -0.198191 m/s,
      rangeRepo size: 4

2025-09-20T00:06:55.921Z,1758326815.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.631796 m,
      bearing: 249.007614 deg,
      lat: 36.779412 deg,
      lon: -121.859730 deg,
      deltaT: 0.504557 s,
      deltaX: -0.099718 m,
      approachRate: -0.197635 m/s,
      posRepo size: 4

2025-09-20T00:06:55.922Z,1758326815.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-09-20T00:06:55.929Z,1758326815.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.631796 m,
      nav range: 24.951809 m,
      bearing: 249.129754 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.070850 deg,
      new cmd heading: 235.024440 deg.

2025-09-20T00:06:55.930Z,1758326815.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101950 target range: 25.631796 and range: 25.70 m.
2025-09-20T00:06:55.969Z,1758326815.969 [DAT](INFO): DAT read: Rx Time:00:06:57.0797 

2025-09-20T00:06:55.971Z,1758326815.971 [DAT](INFO): Rx dataTimestamp_ set to:1758326815.969683
2025-09-20T00:06:55.974Z,1758326815.974 [DAT](INFO): DAT read: Bearing  24.4,  12.5 (Local)

2025-09-20T00:06:55.975Z,1758326815.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.4,  12.5 (Local)

2025-09-20T00:06:55.985Z,1758326815.985 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed 0.4

2025-09-20T00:06:55.988Z,1758326815.988 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-09-20T00:06:55.999Z,1758326815.999 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.475134
2025-09-20T00:06:56.221Z,1758326816.221 [DAT](INFO): DAT read: 00:06:57.0797 LVL= 27248, 31697, 29426, 32755, AGC= 59, IDX= 506,-0.47,-0.609,-2.492,-0.861,-0.970, PHS= 0.462,-1.477, 0.064, RAW= 138.8,  10.7, CAL= 138.3,  11.7, ROT=  11.7, -11.7

2025-09-20T00:06:56.222Z,1758326816.222 [DAT](INFO): got valid direction response:
 00:06:57.0797 LVL= 27248, 31697, 29426, 32755, AGC= 59, IDX= 506,-0.47,-0.609,-2.492,-0.861,-0.970, PHS= 0.462,-1.477, 0.064, RAW= 138.8,  10.7, CAL= 138.3,  11.7, ROT=  11.7, -11.7

2025-09-20T00:06:56.223Z,1758326816.223 [DAT](INFO): #Rx 50: Read direction message, but no range.
2025-09-20T00:06:56.229Z,1758326816.229 [DAT](INFO): direction in FSK: [0.958877,0.198574,0.202787]
2025-09-20T00:06:56.236Z,1758326816.236 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.712259
2025-09-20T00:06:56.473Z,1758326816.473 [DAT](INFO): DAT read: Rx Time:00:06:57.5797 

2025-09-20T00:06:56.474Z,1758326816.474 [DAT](INFO): Rx dataTimestamp_ set to:1758326816.473142
2025-09-20T00:06:56.478Z,1758326816.478 [DAT](INFO): DAT read: Bearing  23.4,  12.5 (Local)

2025-09-20T00:06:56.479Z,1758326816.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.4,  12.5 (Local)

2025-09-20T00:06:56.486Z,1758326816.486 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed 0.4

2025-09-20T00:06:56.500Z,1758326816.500 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-09-20T00:06:56.501Z,1758326816.501 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.976721
2025-09-20T00:06:56.535Z,1758326816.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 1.006871 s,
      deltaX: -0.300001 m,
      approachRate: -0.297954 m/s,
      rangeRepo size: 4

2025-09-20T00:06:56.538Z,1758326816.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.332590 m,
      bearing: 249.075087 deg,
      lat: 36.779412 deg,
      lon: -121.859730 deg,
      deltaT: 1.006871 s,
      deltaX: -0.299206 m,
      approachRate: -0.297164 m/s,
      posRepo size: 4

2025-09-20T00:06:56.539Z,1758326816.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.33 m.
2025-09-20T00:06:56.546Z,1758326816.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.332590 m,
      nav range: 24.678413 m,
      bearing: 249.083436 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 235.024432 deg,
      new cmd heading: 234.968700 deg.

2025-09-20T00:06:56.547Z,1758326816.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.100977 target range: 25.332590 and range: 25.40 m.
2025-09-20T00:06:56.728Z,1758326816.728 [DAT](INFO): DAT read: 00:06:57.5797 LVL= 22704, 31665, 25650, 32755, AGC= 58, IDX= 505, 0.23, 0.835,-1.042, 0.583, 0.449, PHS= 0.488,-1.445, 0.091, RAW= 138.8,   9.8, CAL= 138.3,  10.8, ROT=  11.7, -10.8

2025-09-20T00:06:56.730Z,1758326816.730 [DAT](INFO): got valid direction response:
 00:06:57.5797 LVL= 22704, 31665, 25650, 32755, AGC= 58, IDX= 505, 0.23, 0.835,-1.042, 0.583, 0.449, PHS= 0.488,-1.445, 0.091, RAW= 138.8,   9.8, CAL= 138.3,  10.8, ROT=  11.7, -10.8

2025-09-20T00:06:56.730Z,1758326816.730 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-09-20T00:06:56.732Z,1758326816.732 [DAT](INFO): direction in FSK: [0.961878,0.199195,0.187381]
2025-09-20T00:06:56.757Z,1758326816.757 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.227282
2025-09-20T00:06:56.990Z,1758326816.990 [DAT](INFO): DAT read: Rx Time:00:06:58.0795 

2025-09-20T00:06:56.992Z,1758326816.992 [DAT](INFO): Rx dataTimestamp_ set to:1758326816.990731
2025-09-20T00:06:56.994Z,1758326816.994 [DAT](INFO): DAT read: Bearing  23.7,  13.2 (Local)

2025-09-20T00:06:56.994Z,1758326816.994 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.7,  13.2 (Local)

2025-09-20T00:06:57.005Z,1758326817.005 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.4

2025-09-20T00:06:57.015Z,1758326817.015 [DAT](INFO): DAT read: 00:06:58.0795 LVL= 21424, 31729, 26050, 32755, AGC= 57, IDX= 503,-0.00,-1.809, 2.640,-2.072,-2.186, PHS= 0.479,-1.413, 0.069, RAW= 138.1,  10.1, CAL= 137.7,  11.0, ROT=  12.3, -11.0

2025-09-20T00:06:57.024Z,1758326817.024 [DAT](INFO): got valid direction response:
 00:06:58.0795 LVL= 21424, 31729, 26050, 32755, AGC= 57, IDX= 503,-0.00,-1.809, 2.640,-2.072,-2.186, PHS= 0.479,-1.413, 0.069, RAW= 138.1,  10.1, CAL= 137.7,  11.0, ROT=  12.3, -11.0

2025-09-20T00:06:57.025Z,1758326817.025 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-09-20T00:06:57.026Z,1758326817.026 [DAT](INFO): direction in FSK: [0.959094,0.209116,0.190809]
2025-09-20T00:06:57.026Z,1758326817.026 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:57.050Z,1758326817.050 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.525408
2025-09-20T00:06:57.177Z,1758326817.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.517589 s,
      deltaX: -0.299999 m,
      approachRate: -0.579609 m/s,
      rangeRepo size: 4

2025-09-20T00:06:57.179Z,1758326817.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.033398 m,
      bearing: 249.582310 deg,
      lat: 36.779412 deg,
      lon: -121.859730 deg,
      deltaT: 0.517589 s,
      deltaX: -0.299192 m,
      approachRate: -0.578050 m/s,
      posRepo size: 4

2025-09-20T00:06:57.184Z,1758326817.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.03 m.
2025-09-20T00:06:57.187Z,1758326817.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.033398 m,
      nav range: 24.397530 m,
      bearing: 249.073995 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 234.968698 deg,
      new cmd heading: 234.911107 deg.

2025-09-20T00:06:57.188Z,1758326817.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099972 target range: 25.033398 and range: 25.10 m.
2025-09-20T00:06:57.225Z,1758326817.225 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.701017
2025-09-20T00:06:57.482Z,1758326817.482 [DAT](INFO): DAT read: Rx Time:00:06:58.5794 

2025-09-20T00:06:57.484Z,1758326817.484 [DAT](INFO): Rx dataTimestamp_ set to:1758326817.482357
2025-09-20T00:06:57.488Z,1758326817.488 [DAT](INFO): DAT read: Bearing  23.6,  13.4 (Local)

2025-09-20T00:06:57.489Z,1758326817.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.6,  13.4 (Local)

2025-09-20T00:06:57.494Z,1758326817.494 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.3

2025-09-20T00:06:57.498Z,1758326817.498 [DAT](INFO): DAT read: 00:06:58.5794 LVL= 21728, 32049, 25282, 32755, AGC= 57, IDX= 503,-0.22,-1.727, 2.732,-1.995,-2.106, PHS= 0.481,-1.400, 0.068, RAW= 137.9,  10.0, CAL= 137.5,  11.0, ROT=  12.5, -11.0

2025-09-20T00:06:57.499Z,1758326817.499 [DAT](INFO): got valid direction response:
 00:06:58.5794 LVL= 21728, 32049, 25282, 32755, AGC= 57, IDX= 503,-0.22,-1.727, 2.732,-1.995,-2.106, PHS= 0.481,-1.400, 0.068, RAW= 137.9,  10.0, CAL= 137.5,  11.0, ROT=  12.5, -11.0

2025-09-20T00:06:57.500Z,1758326817.500 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-09-20T00:06:57.501Z,1758326817.501 [DAT](INFO): direction in FSK: [0.958359,0.212463,0.190809]
2025-09-20T00:06:57.501Z,1758326817.501 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:57.505Z,1758326817.505 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.980726
2025-09-20T00:06:57.581Z,1758326817.581 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:06:57.686Z,1758326817.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.491626 s,
      deltaX: -0.200001 m,
      approachRate: -0.406815 m/s,
      rangeRepo size: 4

2025-09-20T00:06:57.692Z,1758326817.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.833927 m,
      bearing: 249.782576 deg,
      lat: 36.779412 deg,
      lon: -121.859730 deg,
      deltaT: 0.491626 s,
      deltaX: -0.199471 m,
      approachRate: -0.405736 m/s,
      posRepo size: 4

2025-09-20T00:06:57.693Z,1758326817.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.83 m.
2025-09-20T00:06:57.695Z,1758326817.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.833927 m,
      nav range: 24.193254 m,
      bearing: 249.084611 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 234.911106 deg,
      new cmd heading: 234.865456 deg.

2025-09-20T00:06:57.700Z,1758326817.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099175 target range: 24.833927 and range: 24.90 m.
2025-09-20T00:06:57.730Z,1758326817.730 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.205929
2025-09-20T00:06:57.986Z,1758326817.986 [DAT](INFO): DAT read: Rx Time:00:06:59.0791 

2025-09-20T00:06:57.989Z,1758326817.989 [DAT](INFO): Rx dataTimestamp_ set to:1758326817.986592
2025-09-20T00:06:57.993Z,1758326817.993 [DAT](INFO): DAT read: Bearing  23.6,  12.9 (Local)

2025-09-20T00:06:57.994Z,1758326817.994 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.6,  12.9 (Local)

2025-09-20T00:06:58.005Z,1758326818.005 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.3

2025-09-20T00:06:58.052Z,1758326818.052 [DAT](INFO): DAT read: 00:06:59.0791 LVL= 23856, 32081, 26370, 32755, AGC= 58, IDX= 500, 0.42,-0.986,-2.845,-1.242,-1.363, PHS= 0.480,-1.437, 0.078, RAW= 138.5,  10.1, CAL= 138.1,  11.0, ROT=  11.9, -11.0

2025-09-20T00:06:58.053Z,1758326818.053 [DAT](INFO): got valid direction response:
 00:06:59.0791 LVL= 23856, 32081, 26370, 32755, AGC= 58, IDX= 500, 0.42,-0.986,-2.845,-1.242,-1.363, PHS= 0.480,-1.437, 0.078, RAW= 138.5,  10.1, CAL= 138.1,  11.0, ROT=  11.9, -11.0

2025-09-20T00:06:58.054Z,1758326818.054 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-09-20T00:06:58.055Z,1758326818.055 [DAT](INFO): direction in FSK: [0.960531,0.202416,0.190809]
2025-09-20T00:06:58.055Z,1758326818.055 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:58.058Z,1758326818.058 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.534315
2025-09-20T00:06:58.185Z,1758326818.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504235 s,
      deltaX: -0.299999 m,
      approachRate: -0.594959 m/s,
      rangeRepo size: 4

2025-09-20T00:06:58.187Z,1758326818.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.534727 m,
      bearing: 249.160940 deg,
      lat: 36.779412 deg,
      lon: -121.859730 deg,
      deltaT: 0.504235 s,
      deltaX: -0.299200 m,
      approachRate: -0.593374 m/s,
      posRepo size: 4

2025-09-20T00:06:58.192Z,1758326818.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.53 m.
2025-09-20T00:06:58.195Z,1758326818.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.534727 m,
      nav range: 23.986540 m,
      bearing: 249.161024 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 234.865453 deg,
      new cmd heading: 234.820592 deg.

2025-09-20T00:06:58.200Z,1758326818.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098392 target range: 24.534727 and range: 24.60 m.
2025-09-20T00:06:58.233Z,1758326818.233 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.708820
2025-09-20T00:06:58.491Z,1758326818.491 [DAT](INFO): DAT read: Rx Time:00:06:59.5791 

2025-09-20T00:06:58.493Z,1758326818.493 [DAT](INFO): Rx dataTimestamp_ set to:1758326818.491467
2025-09-20T00:06:58.494Z,1758326818.494 [DAT](INFO): DAT read: Bearing  23.4,  13.0 (Local)

2025-09-20T00:06:58.495Z,1758326818.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.4,  13.0 (Local)

2025-09-20T00:06:58.497Z,1758326818.497 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.4

2025-09-20T00:06:58.502Z,1758326818.502 [DAT](INFO): DAT read: 00:06:59.5791 LVL= 24928, 31137, 28354, 32755, AGC= 58, IDX= 499, 0.15,-0.835,-2.704,-1.095,-1.222, PHS= 0.489,-1.437, 0.083, RAW= 138.5,   9.9, CAL= 138.0,  10.8, ROT=  12.0, -10.8

2025-09-20T00:06:58.503Z,1758326818.503 [DAT](INFO): got valid direction response:
 00:06:59.5791 LVL= 24928, 31137, 28354, 32755, AGC= 58, IDX= 499, 0.15,-0.835,-2.704,-1.095,-1.222, PHS= 0.489,-1.437, 0.083, RAW= 138.5,   9.9, CAL= 138.0,  10.8, ROT=  12.0, -10.8

2025-09-20T00:06:58.503Z,1758326818.503 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-09-20T00:06:58.504Z,1758326818.504 [DAT](INFO): direction in FSK: [0.960822,0.204229,0.187381]
2025-09-20T00:06:58.504Z,1758326818.504 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:58.516Z,1758326818.516 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.983612
2025-09-20T00:06:58.584Z,1758326818.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:06:58.637Z,1758326818.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.504875 s,
      deltaX: -0.100000 m,
      approachRate: -0.198070 m/s,
      rangeRepo size: 4

2025-09-20T00:06:58.639Z,1758326818.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.434992 m,
      bearing: 249.245781 deg,
      lat: 36.779412 deg,
      lon: -121.859732 deg,
      deltaT: 0.504875 s,
      deltaX: -0.099735 m,
      approachRate: -0.197544 m/s,
      posRepo size: 4

2025-09-20T00:06:58.644Z,1758326818.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.43 m.
2025-09-20T00:06:58.647Z,1758326818.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.434992 m,
      nav range: 23.889509 m,
      bearing: 249.254263 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 234.820592 deg,
      new cmd heading: 234.780033 deg.

2025-09-20T00:06:58.653Z,1758326818.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097684 target range: 24.434992 and range: 24.50 m.
2025-09-20T00:06:58.738Z,1758326818.738 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.213945
2025-09-20T00:06:58.993Z,1758326818.993 [DAT](INFO): DAT read: Rx Time:00:07:00.0788 

2025-09-20T00:06:58.994Z,1758326818.994 [DAT](INFO): Rx dataTimestamp_ set to:1758326818.993590
2025-09-20T00:06:58.995Z,1758326818.995 [DAT](INFO): DAT read: Bearing  25.2,  12.8 (Local)

2025-09-20T00:06:58.995Z,1758326818.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.2,  12.8 (Local)

2025-09-20T00:06:58.998Z,1758326818.998 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.3

2025-09-20T00:06:59.003Z,1758326819.003 [DAT](INFO): DAT read: 00:07:00.0788 LVL= 28208, 32753, 32226, 32755, AGC= 59, IDX= 497,-0.10,-2.456, 1.942,-2.713,-2.791, PHS= 0.437,-1.505, 0.034, RAW= 138.6,  11.6, CAL= 138.1,  12.6, ROT=  11.9, -12.6

2025-09-20T00:06:59.004Z,1758326819.004 [DAT](INFO): got valid direction response:
 00:07:00.0788 LVL= 28208, 32753, 32226, 32755, AGC= 59, IDX= 497,-0.10,-2.456, 1.942,-2.713,-2.791, PHS= 0.437,-1.505, 0.034, RAW= 138.6,  11.6, CAL= 138.1,  12.6, ROT=  11.9, -12.6

2025-09-20T00:06:59.004Z,1758326819.004 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-09-20T00:06:59.005Z,1758326819.005 [DAT](INFO): direction in FSK: [0.954943,0.201238,0.218143]
2025-09-20T00:06:59.006Z,1758326819.006 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:59.025Z,1758326819.025 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.501148
2025-09-20T00:06:59.099Z,1758326819.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.502123 s,
      deltaX: -0.500000 m,
      approachRate: -0.995772 m/s,
      rangeRepo size: 4

2025-09-20T00:06:59.106Z,1758326819.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.936329 m,
      bearing: 249.207079 deg,
      lat: 36.779413 deg,
      lon: -121.859732 deg,
      deltaT: 0.502123 s,
      deltaX: -0.498663 m,
      approachRate: -0.993109 m/s,
      posRepo size: 4

2025-09-20T00:06:59.107Z,1758326819.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.94 m.
2025-09-20T00:06:59.114Z,1758326819.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.936329 m,
      nav range: 23.643608 m,
      bearing: 249.567035 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044883 deg/s,
      cmd heading: 234.780021 deg,
      new cmd heading: 234.738537 deg.

2025-09-20T00:06:59.115Z,1758326819.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096961 target range: 23.936329 and range: 24.00 m.
2025-09-20T00:06:59.242Z,1758326819.242 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.717321
2025-09-20T00:06:59.391Z,1758326819.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:06:59.393Z,1758326819.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.94 m.
2025-09-20T00:06:59.396Z,1758326819.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.936329 m,
      nav range: 23.503437 m,
      bearing: 249.568361 deg,
      approach rate: -0.475748 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.738548 deg,
      new cmd heading: 234.741216 deg.

2025-09-20T00:06:59.397Z,1758326819.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097007 target range: 23.936329 and range: 24.00 m.
2025-09-20T00:06:59.495Z,1758326819.495 [DAT](INFO): DAT read: Rx Time:00:07:00.5788 

2025-09-20T00:06:59.495Z,1758326819.495 [DAT](INFO): Rx dataTimestamp_ set to:1758326819.494866
2025-09-20T00:06:59.497Z,1758326819.497 [DAT](INFO): DAT read: Bearing  25.6,  14.5 (Local)

2025-09-20T00:06:59.497Z,1758326819.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.6,  14.5 (Local)

2025-09-20T00:06:59.499Z,1758326819.499 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.4

2025-09-20T00:06:59.504Z,1758326819.504 [DAT](INFO): DAT read: 00:07:00.5788 LVL= 28848, 32497, 32210, 32755, AGC= 58, IDX= 513,-0.34,-0.809,-2.419,-1.058,-1.096, PHS= 0.390,-1.278,-0.005, RAW= 136.9,  11.8, CAL= 136.3,  12.9, ROT=  13.7, -12.9

2025-09-20T00:06:59.505Z,1758326819.505 [DAT](INFO): got valid direction response:
 00:07:00.5788 LVL= 28848, 32497, 32210, 32755, AGC= 58, IDX= 513,-0.34,-0.809,-2.419,-1.058,-1.096, PHS= 0.390,-1.278,-0.005, RAW= 136.9,  11.8, CAL= 136.3,  12.9, ROT=  13.7, -12.9

2025-09-20T00:06:59.505Z,1758326819.505 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-09-20T00:06:59.506Z,1758326819.506 [DAT](INFO): direction in FSK: [0.947028,0.230861,0.223250]
2025-09-20T00:06:59.506Z,1758326819.506 [DAT](INFO): publishing direction and range info
2025-09-20T00:06:59.510Z,1758326819.510 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.985817
2025-09-20T00:06:59.746Z,1758326819.746 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.221283
2025-09-20T00:06:59.894Z,1758326819.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.501276 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:06:59.901Z,1758326819.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.936323 m,
      bearing: 250.966410 deg,
      lat: 36.779413 deg,
      lon: -121.859732 deg,
      deltaT: 0.501276 s,
      deltaX: -0.000006 m,
      approachRate: -0.000011 m/s,
      posRepo size: 4

2025-09-20T00:06:59.902Z,1758326819.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.94 m.
2025-09-20T00:06:59.909Z,1758326819.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.936323 m,
      nav range: 23.316568 m,
      bearing: 249.583739 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.741225 deg,
      new cmd heading: 234.745757 deg.

2025-09-20T00:06:59.910Z,1758326819.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097086 target range: 23.936323 and range: 24.00 m.
2025-09-20T00:06:59.998Z,1758326819.998 [DAT](INFO): DAT read: Rx Time:00:07:01.0786 

2025-09-20T00:06:59.998Z,1758326819.998 [DAT](INFO): Rx dataTimestamp_ set to:1758326819.997778
2025-09-20T00:06:59.999Z,1758326819.999 [DAT](INFO): DAT read: Bearing  24.3,  12.2 (Local)

2025-09-20T00:06:59.000Z,1758326820.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.3,  12.2 (Local)

2025-09-20T00:07:00.002Z,1758326820.002 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.4

2025-09-20T00:07:00.007Z,1758326820.007 [DAT](INFO): DAT read: 00:07:01.0786 LVL= 26560, 32753, 29250, 32755, AGC= 58, IDX= 510, 0.39,-0.894,-2.816,-1.139,-1.253, PHS= 0.461,-1.518, 0.070, RAW= 139.3,  10.9, CAL= 138.7,  11.8, ROT=  11.3, -11.8

2025-09-20T00:07:00.008Z,1758326820.008 [DAT](INFO): got valid direction response:
 00:07:01.0786 LVL= 26560, 32753, 29250, 32755, AGC= 58, IDX= 510, 0.39,-0.894,-2.816,-1.139,-1.253, PHS= 0.461,-1.518, 0.070, RAW= 139.3,  10.9, CAL= 138.7,  11.8, ROT=  11.3, -11.8

2025-09-20T00:07:00.009Z,1758326820.009 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-09-20T00:07:00.010Z,1758326820.010 [DAT](INFO): direction in FSK: [0.959892,0.191805,0.204496]
2025-09-20T00:07:00.010Z,1758326820.010 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:00.014Z,1758326820.014 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.489626
2025-09-20T00:07:00.250Z,1758326820.250 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.725685
2025-09-20T00:07:00.353Z,1758326820.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.502912 s,
      deltaX: -0.299999 m,
      approachRate: -0.596524 m/s,
      rangeRepo size: 4

2025-09-20T00:07:00.355Z,1758326820.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.637119 m,
      bearing: 248.512994 deg,
      lat: 36.779412 deg,
      lon: -121.859730 deg,
      deltaT: 0.502912 s,
      deltaX: -0.299204 m,
      approachRate: -0.594943 m/s,
      posRepo size: 4

2025-09-20T00:07:00.356Z,1758326820.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.64 m.
2025-09-20T00:07:00.359Z,1758326820.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.637119 m,
      nav range: 23.036865 m,
      bearing: 249.141199 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.745761 deg,
      new cmd heading: 234.749916 deg.

2025-09-20T00:07:00.380Z,1758326820.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097159 target range: 23.637119 and range: 23.70 m.
2025-09-20T00:07:00.503Z,1758326820.503 [DAT](INFO): DAT read: Rx Time:00:07:01.5786 

2025-09-20T00:07:00.503Z,1758326820.503 [DAT](INFO): Rx dataTimestamp_ set to:1758326820.503127
2025-09-20T00:07:00.505Z,1758326820.505 [DAT](INFO): DAT read: Bearing  23.3,  12.2 (Local)

2025-09-20T00:07:00.506Z,1758326820.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.3,  12.2 (Local)

2025-09-20T00:07:00.508Z,1758326820.508 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.3

2025-09-20T00:07:00.513Z,1758326820.513 [DAT](INFO): DAT read: 00:07:01.5786 LVL= 24880, 32753, 27634, 32755, AGC= 57, IDX= 510, 0.19,-0.041,-1.971,-0.290,-0.435, PHS= 0.495,-1.491, 0.101, RAW= 139.2,   9.9, CAL= 138.7,  10.8, ROT=  11.3, -10.8

2025-09-20T00:07:00.514Z,1758326820.514 [DAT](INFO): got valid direction response:
 00:07:01.5786 LVL= 24880, 32753, 27634, 32755, AGC= 57, IDX= 510, 0.19,-0.041,-1.971,-0.290,-0.435, PHS= 0.495,-1.491, 0.101, RAW= 139.2,   9.9, CAL= 138.7,  10.8, ROT=  11.3, -10.8

2025-09-20T00:07:00.514Z,1758326820.514 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-09-20T00:07:00.515Z,1758326820.515 [DAT](INFO): direction in FSK: [0.963245,0.192475,0.187381]
2025-09-20T00:07:00.516Z,1758326820.516 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:00.519Z,1758326820.519 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.995003
2025-09-20T00:07:00.746Z,1758326820.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.505349 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:00.754Z,1758326820.754 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.229548
2025-09-20T00:07:00.771Z,1758326820.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.637119 m,
      bearing: 248.487198 deg,
      lat: 36.779412 deg,
      lon: -121.859732 deg,
      deltaT: 0.505349 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:00.781Z,1758326820.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.64 m.
2025-09-20T00:07:00.799Z,1758326820.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.637119 m,
      nav range: 22.994652 m,
      bearing: 249.220278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.749913 deg,
      new cmd heading: 234.753471 deg.

2025-09-20T00:07:00.813Z,1758326820.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097221 target range: 23.637119 and range: 23.70 m.
2025-09-20T00:07:01.006Z,1758326821.006 [DAT](INFO): DAT read: Rx Time:00:07:02.0784 

2025-09-20T00:07:01.006Z,1758326821.006 [DAT](INFO): Rx dataTimestamp_ set to:1758326821.005978
2025-09-20T00:07:01.008Z,1758326821.008 [DAT](INFO): DAT read: Bearing  24.9,  12.2 (Local)

2025-09-20T00:07:01.008Z,1758326821.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.9,  12.2 (Local)

2025-09-20T00:07:01.010Z,1758326821.010 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.3

2025-09-20T00:07:01.015Z,1758326821.015 [DAT](INFO): DAT read: 00:07:02.0784 LVL= 27488, 31905, 31026, 32755, AGC= 58, IDX= 508,-0.02,-1.709, 2.656,-1.958,-2.053, PHS= 0.446,-1.530, 0.050, RAW= 139.1,  11.4, CAL= 138.5,  12.4, ROT=  11.5, -12.4

2025-09-20T00:07:01.016Z,1758326821.016 [DAT](INFO): got valid direction response:
 00:07:02.0784 LVL= 27488, 31905, 31026, 32755, AGC= 58, IDX= 508,-0.02,-1.709, 2.656,-1.958,-2.053, PHS= 0.446,-1.530, 0.050, RAW= 139.1,  11.4, CAL= 138.5,  12.4, ROT=  11.5, -12.4

2025-09-20T00:07:01.016Z,1758326821.016 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-09-20T00:07:01.017Z,1758326821.017 [DAT](INFO): direction in FSK: [0.957065,0.194717,0.214735]
2025-09-20T00:07:01.017Z,1758326821.017 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:01.021Z,1758326821.021 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.496853
2025-09-20T00:07:01.239Z,1758326821.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.502851 s,
      deltaX: -0.300001 m,
      approachRate: -0.596600 m/s,
      rangeRepo size: 4

2025-09-20T00:07:01.241Z,1758326821.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.337917 m,
      bearing: 248.748743 deg,
      lat: 36.779411 deg,
      lon: -121.859730 deg,
      deltaT: 0.502851 s,
      deltaX: -0.299202 m,
      approachRate: -0.595011 m/s,
      posRepo size: 4

2025-09-20T00:07:01.242Z,1758326821.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.34 m.
2025-09-20T00:07:01.246Z,1758326821.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.337917 m,
      nav range: 22.697218 m,
      bearing: 248.748823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.753465 deg,
      new cmd heading: 234.757933 deg.

2025-09-20T00:07:01.247Z,1758326821.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097299 target range: 23.337917 and range: 23.40 m.
2025-09-20T00:07:01.257Z,1758326821.257 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.732712
2025-09-20T00:07:01.510Z,1758326821.510 [DAT](INFO): DAT read: Rx Time:00:07:02.5783 

2025-09-20T00:07:01.511Z,1758326821.511 [DAT](INFO): Rx dataTimestamp_ set to:1758326821.510590
2025-09-20T00:07:01.513Z,1758326821.513 [DAT](INFO): DAT read: Bearing  25.4,  12.5 (Local)

2025-09-20T00:07:01.513Z,1758326821.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.4,  12.5 (Local)

2025-09-20T00:07:01.515Z,1758326821.515 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.4

2025-09-20T00:07:01.520Z,1758326821.520 [DAT](INFO): DAT read: 00:07:02.5783 LVL= 28528, 30577, 32178, 32755, AGC= 56, IDX= 508,-0.22,-1.333, 3.041,-1.593,-1.667, PHS= 0.436,-1.529, 0.030, RAW= 138.7,  11.8, CAL= 138.1,  12.8, ROT=  11.9, -12.8

2025-09-20T00:07:01.521Z,1758326821.521 [DAT](INFO): got valid direction response:
 00:07:02.5783 LVL= 28528, 30577, 32178, 32755, AGC= 56, IDX= 508,-0.22,-1.333, 3.041,-1.593,-1.667, PHS= 0.436,-1.529, 0.030, RAW= 138.7,  11.8, CAL= 138.1,  12.8, ROT=  11.9, -12.8

2025-09-20T00:07:01.521Z,1758326821.521 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-09-20T00:07:01.522Z,1758326821.522 [DAT](INFO): direction in FSK: [0.954192,0.201080,0.221548]
2025-09-20T00:07:01.522Z,1758326821.522 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:01.530Z,1758326821.530 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.005611
2025-09-20T00:07:01.672Z,1758326821.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.504612 s,
      deltaX: -0.100000 m,
      approachRate: -0.198173 m/s,
      rangeRepo size: 4

2025-09-20T00:07:01.674Z,1758326821.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.238182 m,
      bearing: 249.095617 deg,
      lat: 36.779411 deg,
      lon: -121.859731 deg,
      deltaT: 0.504612 s,
      deltaX: -0.099735 m,
      approachRate: -0.197647 m/s,
      posRepo size: 4

2025-09-20T00:07:01.675Z,1758326821.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.24 m.
2025-09-20T00:07:01.701Z,1758326821.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.238182 m,
      nav range: 22.612431 m,
      bearing: 248.804822 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.757946 deg,
      new cmd heading: 234.761683 deg.

2025-09-20T00:07:01.713Z,1758326821.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097364 target range: 23.238182 and range: 23.30 m.
2025-09-20T00:07:01.761Z,1758326821.761 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.236866
2025-09-20T00:07:02.014Z,1758326822.014 [DAT](INFO): DAT read: Rx Time:00:07:03.0781 

2025-09-20T00:07:02.014Z,1758326822.014 [DAT](INFO): Rx dataTimestamp_ set to:1758326822.013711
2025-09-20T00:07:02.015Z,1758326822.015 [DAT](INFO): DAT read: Bearing  23.5,  11.9 (Local)

2025-09-20T00:07:02.016Z,1758326822.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.5,  11.9 (Local)

2025-09-20T00:07:02.018Z,1758326822.018 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.4

2025-09-20T00:07:02.023Z,1758326822.023 [DAT](INFO): DAT read: 00:07:03.0781 LVL= 23200, 31345, 27794, 32755, AGC= 57, IDX= 505, 0.35,-0.349,-2.270,-0.593,-0.731, PHS= 0.484,-1.494, 0.094, RAW= 139.3,  10.1, CAL= 138.8,  11.1, ROT=  11.2, -11.1

2025-09-20T00:07:02.024Z,1758326822.024 [DAT](INFO): got valid direction response:
 00:07:03.0781 LVL= 23200, 31345, 27794, 32755, AGC= 57, IDX= 505, 0.35,-0.349,-2.270,-0.593,-0.731, PHS= 0.484,-1.494, 0.094, RAW= 139.3,  10.1, CAL= 138.8,  11.1, ROT=  11.2, -11.1

2025-09-20T00:07:02.024Z,1758326822.024 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-09-20T00:07:02.025Z,1758326822.025 [DAT](INFO): direction in FSK: [0.962604,0.190601,0.192522]
2025-09-20T00:07:02.025Z,1758326822.025 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:02.037Z,1758326822.037 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.512756
2025-09-20T00:07:02.155Z,1758326822.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.503121 s,
      deltaX: -0.299999 m,
      approachRate: -0.596277 m/s,
      rangeRepo size: 4

2025-09-20T00:07:02.161Z,1758326822.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.939013 m,
      bearing: 248.286290 deg,
      lat: 36.779410 deg,
      lon: -121.859731 deg,
      deltaT: 0.503121 s,
      deltaX: -0.299170 m,
      approachRate: -0.594627 m/s,
      posRepo size: 4

2025-09-20T00:07:02.162Z,1758326822.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.94 m.
2025-09-20T00:07:02.169Z,1758326822.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.939013 m,
      nav range: 22.399244 m,
      bearing: 248.485816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.761689 deg,
      new cmd heading: 234.766242 deg.

2025-09-20T00:07:02.170Z,1758326822.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097444 target range: 22.939013 and range: 23.00 m.
2025-09-20T00:07:02.267Z,1758326822.267 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.742643
2025-09-20T00:07:02.518Z,1758326822.518 [DAT](INFO): DAT read: Rx Time:00:07:03.5780 

2025-09-20T00:07:02.518Z,1758326822.518 [DAT](INFO): Rx dataTimestamp_ set to:1758326822.517794
2025-09-20T00:07:02.519Z,1758326822.519 [DAT](INFO): DAT read: Bearing  23.7,  11.9 (Local)

2025-09-20T00:07:02.520Z,1758326822.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.7,  11.9 (Local)

2025-09-20T00:07:02.522Z,1758326822.522 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed 0.4

2025-09-20T00:07:02.527Z,1758326822.527 [DAT](INFO): DAT read: 00:07:03.5780 LVL= 23600, 32753, 28258, 32755, AGC= 57, IDX= 504, 0.04,-0.628,-2.541,-0.872,-1.000, PHS= 0.474,-1.496, 0.083, RAW= 139.2,  10.4, CAL= 138.7,  11.4, ROT=  11.3, -11.4

2025-09-20T00:07:02.528Z,1758326822.528 [DAT](INFO): got valid direction response:
 00:07:03.5780 LVL= 23600, 32753, 28258, 32755, AGC= 57, IDX= 504, 0.04,-0.628,-2.541,-0.872,-1.000, PHS= 0.474,-1.496, 0.083, RAW= 139.2,  10.4, CAL= 138.7,  11.4, ROT=  11.3, -11.4

2025-09-20T00:07:02.528Z,1758326822.528 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-09-20T00:07:02.529Z,1758326822.529 [DAT](INFO): direction in FSK: [0.961268,0.192080,0.197657]
2025-09-20T00:07:02.530Z,1758326822.530 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:02.533Z,1758326822.533 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.008896
2025-09-20T00:07:02.610Z,1758326822.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.504083 s,
      deltaX: -0.200001 m,
      approachRate: -0.396762 m/s,
      rangeRepo size: 4

2025-09-20T00:07:02.617Z,1758326822.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.739542 m,
      bearing: 248.316641 deg,
      lat: 36.779409 deg,
      lon: -121.859731 deg,
      deltaT: 0.504083 s,
      deltaX: -0.199471 m,
      approachRate: -0.395710 m/s,
      posRepo size: 4

2025-09-20T00:07:02.618Z,1758326822.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.74 m.
2025-09-20T00:07:02.625Z,1758326822.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.739542 m,
      nav range: 22.226862 m,
      bearing: 248.331337 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.766251 deg,
      new cmd heading: 234.770378 deg.

2025-09-20T00:07:02.641Z,1758326822.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097516 target range: 22.739542 and range: 22.80 m.
2025-09-20T00:07:02.770Z,1758326822.770 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.245903
2025-09-20T00:07:03.022Z,1758326823.022 [DAT](INFO): DAT read: Rx Time:00:07:04.0777 

2025-09-20T00:07:03.022Z,1758326823.022 [DAT](INFO): Rx dataTimestamp_ set to:1758326823.021918
2025-09-20T00:07:03.023Z,1758326823.023 [DAT](INFO): DAT read: Bearing  24.0,  12.1 (Local)

2025-09-20T00:07:03.024Z,1758326823.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.0,  12.1 (Local)

2025-09-20T00:07:03.026Z,1758326823.026 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.4

2025-09-20T00:07:03.031Z,1758326823.031 [DAT](INFO): DAT read: 00:07:04.0777 LVL= 24656, 30305, 27730, 32755, AGC= 57, IDX= 502,-0.28, 3.117, 1.208, 2.863, 2.748, PHS= 0.471,-1.495, 0.071, RAW= 138.9,  10.6, CAL= 138.4,  11.6, ROT=  11.6, -11.6

2025-09-20T00:07:03.032Z,1758326823.032 [DAT](INFO): got valid direction response:
 00:07:04.0777 LVL= 24656, 30305, 27730, 32755, AGC= 57, IDX= 502,-0.28, 3.117, 1.208, 2.863, 2.748, PHS= 0.471,-1.495, 0.071, RAW= 138.9,  10.6, CAL= 138.4,  11.6, ROT=  11.6, -11.6

2025-09-20T00:07:03.032Z,1758326823.032 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-09-20T00:07:03.033Z,1758326823.033 [DAT](INFO): direction in FSK: [0.959568,0.196971,0.201078]
2025-09-20T00:07:03.033Z,1758326823.033 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:03.037Z,1758326823.037 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.512981
2025-09-20T00:07:03.122Z,1758326823.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.504124 s,
      deltaX: -0.400000 m,
      approachRate: -0.793455 m/s,
      rangeRepo size: 4

2025-09-20T00:07:03.128Z,1758326823.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.340590 m,
      bearing: 248.544800 deg,
      lat: 36.779411 deg,
      lon: -121.859731 deg,
      deltaT: 0.504124 s,
      deltaX: -0.398952 m,
      approachRate: -0.791378 m/s,
      posRepo size: 4

2025-09-20T00:07:03.129Z,1758326823.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.34 m.
2025-09-20T00:07:03.131Z,1758326823.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.340590 m,
      nav range: 21.943663 m,
      bearing: 248.569378 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.770377 deg,
      new cmd heading: 234.775009 deg.

2025-09-20T00:07:03.141Z,1758326823.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097597 target range: 22.340590 and range: 22.40 m.
2025-09-20T00:07:03.275Z,1758326823.275 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.749825
2025-09-20T00:07:03.526Z,1758326823.526 [DAT](INFO): DAT read: Rx Time:00:07:04.5777 

2025-09-20T00:07:03.526Z,1758326823.526 [DAT](INFO): Rx dataTimestamp_ set to:1758326823.525745
2025-09-20T00:07:03.527Z,1758326823.527 [DAT](INFO): DAT read: Bearing  24.4,  11.5 (Local)

2025-09-20T00:07:03.528Z,1758326823.528 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.4,  11.5 (Local)

2025-09-20T00:07:03.530Z,1758326823.530 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.4

2025-09-20T00:07:03.543Z,1758326823.543 [DAT](INFO): DAT read: 00:07:04.5777 LVL= 29424, 32753, 32530, 32755, AGC= 57, IDX= 501, 0.20,-0.101,-2.008,-0.335,-0.448, PHS= 0.449,-1.515, 0.069, RAW= 139.5,  11.1, CAL= 138.9,  12.0, ROT=  11.1, -12.0

2025-09-20T00:07:03.544Z,1758326823.544 [DAT](INFO): got valid direction response:
 00:07:04.5777 LVL= 29424, 32753, 32530, 32755, AGC= 57, IDX= 501, 0.20,-0.101,-2.008,-0.335,-0.448, PHS= 0.449,-1.515, 0.069, RAW= 139.5,  11.1, CAL= 138.9,  12.0, ROT=  11.1, -12.0

2025-09-20T00:07:03.545Z,1758326823.545 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-09-20T00:07:03.546Z,1758326823.546 [DAT](INFO): direction in FSK: [0.959849,0.188315,0.207912]
2025-09-20T00:07:03.546Z,1758326823.546 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:03.550Z,1758326823.550 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.025398
2025-09-20T00:07:03.606Z,1758326823.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.503827 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:03.624Z,1758326823.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.340590 m,
      bearing: 247.942850 deg,
      lat: 36.779409 deg,
      lon: -121.859731 deg,
      deltaT: 0.503827 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:03.625Z,1758326823.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.34 m.
2025-09-20T00:07:03.627Z,1758326823.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.340590 m,
      nav range: 21.787556 m,
      bearing: 248.171138 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.775021 deg,
      new cmd heading: 234.779323 deg.

2025-09-20T00:07:03.633Z,1758326823.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097672 target range: 22.340590 and range: 22.40 m.
2025-09-20T00:07:03.782Z,1758326823.782 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.257126
2025-09-20T00:07:04.030Z,1758326824.030 [DAT](INFO): DAT read: Rx Time:00:07:05.0775 

2025-09-20T00:07:04.030Z,1758326824.030 [DAT](INFO): Rx dataTimestamp_ set to:1758326824.029742
2025-09-20T00:07:04.031Z,1758326824.031 [DAT](INFO): DAT read: Bearing  24.5,  11.9 (Local)

2025-09-20T00:07:04.032Z,1758326824.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.5,  11.9 (Local)

2025-09-20T00:07:04.034Z,1758326824.034 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.4

2025-09-20T00:07:04.038Z,1758326824.038 [DAT](INFO): DAT read: 00:07:05.0775 LVL= 26960, 30705, 30674, 32755, AGC= 58, IDX= 499,-0.10,-2.882, 1.517,-3.128, 3.057, PHS= 0.447,-1.495, 0.054, RAW= 139.0,  11.2, CAL= 138.4,  12.2, ROT=  11.6, -12.2

2025-09-20T00:07:04.039Z,1758326824.039 [DAT](INFO): got valid direction response:
 00:07:05.0775 LVL= 26960, 30705, 30674, 32755, AGC= 58, IDX= 499,-0.10,-2.882, 1.517,-3.128, 3.057, PHS= 0.447,-1.495, 0.054, RAW= 139.0,  11.2, CAL= 138.4,  12.2, ROT=  11.6, -12.2

2025-09-20T00:07:04.040Z,1758326824.040 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-09-20T00:07:04.041Z,1758326824.041 [DAT](INFO): direction in FSK: [0.957452,0.196537,0.211325]
2025-09-20T00:07:04.041Z,1758326824.041 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:04.053Z,1758326824.053 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.528633
2025-09-20T00:07:04.133Z,1758326824.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.503997 s,
      deltaX: -0.299999 m,
      approachRate: -0.595240 m/s,
      rangeRepo size: 4

2025-09-20T00:07:04.135Z,1758326824.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.041422 m,
      bearing: 248.427852 deg,
      lat: 36.779409 deg,
      lon: -121.859730 deg,
      deltaT: 0.503997 s,
      deltaX: -0.299168 m,
      approachRate: -0.593590 m/s,
      posRepo size: 4

2025-09-20T00:07:04.140Z,1758326824.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.04 m.
2025-09-20T00:07:04.143Z,1758326824.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.041422 m,
      nav range: 21.530169 m,
      bearing: 248.074064 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.779311 deg,
      new cmd heading: 234.784170 deg.

2025-09-20T00:07:04.148Z,1758326824.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097757 target range: 22.041422 and range: 22.10 m.
2025-09-20T00:07:04.282Z,1758326824.282 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.757511
2025-09-20T00:07:04.534Z,1758326824.534 [DAT](INFO): DAT read: Rx Time:00:07:05.5774 

2025-09-20T00:07:04.534Z,1758326824.534 [DAT](INFO): Rx dataTimestamp_ set to:1758326824.533756
2025-09-20T00:07:04.535Z,1758326824.535 [DAT](INFO): DAT read: Bearing  23.0,  12.3 (Local)

2025-09-20T00:07:04.536Z,1758326824.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.0,  12.3 (Local)

2025-09-20T00:07:04.538Z,1758326824.538 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.4

2025-09-20T00:07:04.547Z,1758326824.547 [DAT](INFO): DAT read: 00:07:05.5774 LVL= 24960, 29089, 26802, 32755, AGC= 57, IDX= 499,-0.38,-2.261, 2.168,-2.517,-2.648, PHS= 0.488,-1.423, 0.087, RAW= 138.5,   9.7, CAL= 138.1,  10.7, ROT=  11.9, -10.7

2025-09-20T00:07:04.548Z,1758326824.548 [DAT](INFO): got valid direction response:
 00:07:05.5774 LVL= 24960, 29089, 26802, 32755, AGC= 57, IDX= 499,-0.38,-2.261, 2.168,-2.517,-2.648, PHS= 0.488,-1.423, 0.087, RAW= 138.5,   9.7, CAL= 138.1,  10.7, ROT=  11.9, -10.7

2025-09-20T00:07:04.548Z,1758326824.548 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-09-20T00:07:04.549Z,1758326824.549 [DAT](INFO): direction in FSK: [0.961495,0.202619,0.185667]
2025-09-20T00:07:04.549Z,1758326824.549 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:04.569Z,1758326824.569 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.044922
2025-09-20T00:07:04.575Z,1758326824.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.504014 s,
      deltaX: -0.200001 m,
      approachRate: -0.396816 m/s,
      rangeRepo size: 4

2025-09-20T00:07:04.589Z,1758326824.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.841951 m,
      bearing: 248.581375 deg,
      lat: 36.779411 deg,
      lon: -121.859730 deg,
      deltaT: 0.504014 s,
      deltaX: -0.199471 m,
      approachRate: -0.395764 m/s,
      posRepo size: 4

2025-09-20T00:07:04.590Z,1758326824.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.84 m.
2025-09-20T00:07:04.597Z,1758326824.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.841951 m,
      nav range: 21.284176 m,
      bearing: 248.375610 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.784174 deg,
      new cmd heading: 234.788178 deg.

2025-09-20T00:07:04.598Z,1758326824.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097827 target range: 21.841951 and range: 21.90 m.
2025-09-20T00:07:04.786Z,1758326824.786 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.261551
2025-09-20T00:07:05.037Z,1758326825.037 [DAT](INFO): DAT read: Rx Time:00:07:06.0772 

2025-09-20T00:07:05.038Z,1758326825.038 [DAT](INFO): Rx dataTimestamp_ set to:1758326825.037575
2025-09-20T00:07:05.039Z,1758326825.039 [DAT](INFO): DAT read: Bearing  23.6,  11.8 (Local)

2025-09-20T00:07:05.039Z,1758326825.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.6,  11.8 (Local)

2025-09-20T00:07:05.042Z,1758326825.042 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.4

2025-09-20T00:07:05.046Z,1758326825.046 [DAT](INFO): DAT read: 00:07:06.0772 LVL= 24112, 28017, 27874, 32755, AGC= 58, IDX= 496, 0.28,-3.096, 1.339, 2.947, 2.826, PHS= 0.463,-1.442, 0.076, RAW= 138.9,  10.4, CAL= 138.4,  11.3, ROT=  11.6, -11.3

2025-09-20T00:07:05.047Z,1758326825.047 [DAT](INFO): got valid direction response:
 00:07:06.0772 LVL= 24112, 28017, 27874, 32755, AGC= 58, IDX= 496, 0.28,-3.096, 1.339, 2.947, 2.826, PHS= 0.463,-1.442, 0.076, RAW= 138.9,  10.4, CAL= 138.4,  11.3, ROT=  11.6, -11.3

2025-09-20T00:07:05.047Z,1758326825.047 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-09-20T00:07:05.049Z,1758326825.049 [DAT](INFO): direction in FSK: [0.960586,0.197180,0.195946]
2025-09-20T00:07:05.049Z,1758326825.049 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:05.052Z,1758326825.052 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.528187
2025-09-20T00:07:05.177Z,1758326825.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.503819 s,
      deltaX: -0.299999 m,
      approachRate: -0.595450 m/s,
      rangeRepo size: 4

2025-09-20T00:07:05.179Z,1758326825.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.542770 m,
      bearing: 248.301844 deg,
      lat: 36.779411 deg,
      lon: -121.859730 deg,
      deltaT: 0.503819 s,
      deltaX: -0.299181 m,
      approachRate: -0.593826 m/s,
      posRepo size: 4

2025-09-20T00:07:05.184Z,1758326825.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.54 m.
2025-09-20T00:07:05.187Z,1758326825.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.542770 m,
      nav range: 21.026457 m,
      bearing: 248.290277 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.788190 deg,
      new cmd heading: 234.793642 deg.

2025-09-20T00:07:05.192Z,1758326825.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097922 target range: 21.542770 and range: 21.60 m.
2025-09-20T00:07:05.290Z,1758326825.290 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.765957
2025-09-20T00:07:05.542Z,1758326825.542 [DAT](INFO): DAT read: Rx Time:00:07:06.5772 

2025-09-20T00:07:05.542Z,1758326825.542 [DAT](INFO): Rx dataTimestamp_ set to:1758326825.541815
2025-09-20T00:07:05.543Z,1758326825.543 [DAT](INFO): DAT read: Bearing  29.8,   7.3 (Local)

2025-09-20T00:07:05.544Z,1758326825.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.8,   7.3 (Local)

2025-09-20T00:07:05.546Z,1758326825.546 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.4

2025-09-20T00:07:05.550Z,1758326825.550 [DAT](INFO): DAT read: 00:07:06.5772 LVL= 24336, 30641, 26610, 32755, AGC= 57, IDX= 512, 0.00,-2.389, 2.159,-2.478,-2.491, PHS= 0.204,-1.588,-0.030, RAW= 143.1,  16.5, CAL= 142.5,  17.9, ROT=   7.5, -17.9

2025-09-20T00:07:05.552Z,1758326825.552 [DAT](INFO): got valid direction response:
 00:07:06.5772 LVL= 24336, 30641, 26610, 32755, AGC= 57, IDX= 512, 0.00,-2.389, 2.159,-2.478,-2.491, PHS= 0.204,-1.588,-0.030, RAW= 143.1,  16.5, CAL= 142.5,  17.9, ROT=   7.5, -17.9

2025-09-20T00:07:05.552Z,1758326825.552 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-09-20T00:07:05.553Z,1758326825.553 [DAT](INFO): direction in FSK: [0.943453,0.124208,0.307357]
2025-09-20T00:07:05.553Z,1758326825.553 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:05.557Z,1758326825.557 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.032791
2025-09-20T00:07:05.567Z,1758326825.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.504240 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:05.569Z,1758326825.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.542770 m,
      bearing: 244.329259 deg,
      lat: 36.779410 deg,
      lon: -121.859730 deg,
      deltaT: 0.504240 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:05.570Z,1758326825.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.54 m.
2025-09-20T00:07:05.609Z,1758326825.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.542770 m,
      nav range: 20.865728 m,
      bearing: 248.208251 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 234.793654 deg,
      new cmd heading: 234.797185 deg.

2025-09-20T00:07:05.610Z,1758326825.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097984 target range: 21.542770 and range: 21.60 m.
2025-09-20T00:07:05.793Z,1758326825.793 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.268784
2025-09-20T00:07:06.039Z,1758326826.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:06.042Z,1758326826.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.54 m.
2025-09-20T00:07:06.046Z,1758326826.046 [DAT](INFO): DAT read: Rx Time:00:07:07.0769 

2025-09-20T00:07:06.046Z,1758326826.046 [DAT](INFO): Rx dataTimestamp_ set to:1758326826.046051
2025-09-20T00:07:06.048Z,1758326826.048 [DAT](INFO): DAT read: Bearing  23.3,  11.3 (Local)

2025-09-20T00:07:06.048Z,1758326826.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.3,  11.3 (Local)

2025-09-20T00:07:06.050Z,1758326826.050 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.3

2025-09-20T00:07:06.055Z,1758326826.055 [DAT](INFO): DAT read: 00:07:07.0769 LVL= 21600, 30545, 25074, 32755, AGC= 57, IDX= 510,-0.27, 2.317, 0.478, 2.091, 1.956, PHS= 0.462,-1.434, 0.091, RAW= 139.3,  10.1, CAL= 138.9,  11.1, ROT=  11.1, -11.1

2025-09-20T00:07:06.057Z,1758326826.057 [DAT](INFO): got valid direction response:
 00:07:07.0769 LVL= 21600, 30545, 25074, 32755, AGC= 57, IDX= 510,-0.27, 2.317, 0.478, 2.091, 1.956, PHS= 0.462,-1.434, 0.091, RAW= 139.3,  10.1, CAL= 138.9,  11.1, ROT=  11.1, -11.1

2025-09-20T00:07:06.057Z,1758326826.057 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-09-20T00:07:06.058Z,1758326826.058 [DAT](INFO): direction in FSK: [0.962935,0.188920,0.192522]
2025-09-20T00:07:06.058Z,1758326826.058 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:06.062Z,1758326826.062 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.537693
2025-09-20T00:07:06.077Z,1758326826.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.542770 m,
      nav range: 20.655020 m,
      bearing: 248.167115 deg,
      approach rate: -0.443572 m/s,
      LOS rate: -0.087479 deg/s,
      cmd heading: 234.797178 deg,
      new cmd heading: 234.714068 deg.

2025-09-20T00:07:06.078Z,1758326826.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096533 target range: 21.542770 and range: 21.60 m.
2025-09-20T00:07:06.299Z,1758326826.299 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.774586
2025-09-20T00:07:06.411Z,1758326826.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.504236 s,
      deltaX: -0.400000 m,
      approachRate: -0.793279 m/s,
      rangeRepo size: 4

2025-09-20T00:07:06.413Z,1758326826.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.143829 m,
      bearing: 247.672449 deg,
      lat: 36.779410 deg,
      lon: -121.859731 deg,
      deltaT: 0.504236 s,
      deltaX: -0.398941 m,
      approachRate: -0.791179 m/s,
      posRepo size: 4

2025-09-20T00:07:06.414Z,1758326826.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.14 m.
2025-09-20T00:07:06.417Z,1758326826.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.143829 m,
      nav range: 20.535212 m,
      bearing: 248.176237 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087479 deg/s,
      cmd heading: 234.714069 deg,
      new cmd heading: 234.649579 deg.

2025-09-20T00:07:06.418Z,1758326826.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095408 target range: 21.143829 and range: 21.20 m.
2025-09-20T00:07:06.550Z,1758326826.550 [DAT](INFO): DAT read: Rx Time:00:07:07.5770 

2025-09-20T00:07:06.550Z,1758326826.550 [DAT](INFO): Rx dataTimestamp_ set to:1758326826.549924
2025-09-20T00:07:06.551Z,1758326826.551 [DAT](INFO): DAT read: Bearing  24.0,  10.6 (Local)

2025-09-20T00:07:06.553Z,1758326826.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.0,  10.6 (Local)

2025-09-20T00:07:06.555Z,1758326826.555 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed 0.3

2025-09-20T00:07:06.559Z,1758326826.559 [DAT](INFO): DAT read: 00:07:07.5770 LVL= 25024, 29857, 29826, 32755, AGC= 58, IDX= 510, 0.42, 0.071,-1.779,-0.131,-0.258, PHS= 0.431,-1.476, 0.083, RAW= 140.1,  10.9, CAL= 139.6,  11.9, ROT=  10.4, -11.9

2025-09-20T00:07:06.561Z,1758326826.561 [DAT](INFO): got valid direction response:
 00:07:07.5770 LVL= 25024, 29857, 29826, 32755, AGC= 58, IDX= 510, 0.42, 0.071,-1.779,-0.131,-0.258, PHS= 0.431,-1.476, 0.083, RAW= 140.1,  10.9, CAL= 139.6,  11.9, ROT=  10.4, -11.9

2025-09-20T00:07:06.561Z,1758326826.561 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-09-20T00:07:06.562Z,1758326826.562 [DAT](INFO): direction in FSK: [0.962434,0.176640,0.206204]
2025-09-20T00:07:06.562Z,1758326826.562 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:06.566Z,1758326826.566 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.041431
2025-09-20T00:07:06.801Z,1758326826.801 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.276787
2025-09-20T00:07:06.838Z,1758326826.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 0.503873 s,
      deltaX: 0.099998 m,
      approachRate: 0.198460 m/s,
      rangeRepo size: 4

2025-09-20T00:07:06.845Z,1758326826.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.243431 m,
      bearing: 246.967271 deg,
      lat: 36.779408 deg,
      lon: -121.859732 deg,
      deltaT: 0.503873 s,
      deltaX: 0.099602 m,
      approachRate: 0.197672 m/s,
      posRepo size: 4

2025-09-20T00:07:06.845Z,1758326826.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.24 m.
2025-09-20T00:07:06.852Z,1758326826.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.243431 m,
      nav range: 20.530645 m,
      bearing: 247.633697 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087479 deg/s,
      cmd heading: 234.649592 deg,
      new cmd heading: 234.574793 deg.

2025-09-20T00:07:06.853Z,1758326826.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094102 target range: 21.243431 and range: 21.30 m.
2025-09-20T00:07:07.055Z,1758326827.055 [DAT](INFO): DAT read: Rx Time:00:07:08.0768 

2025-09-20T00:07:07.056Z,1758326827.056 [DAT](INFO): Rx dataTimestamp_ set to:1758326827.055214
2025-09-20T00:07:07.057Z,1758326827.057 [DAT](INFO): DAT read: Bearing  23.3,  10.5 (Local)

2025-09-20T00:07:07.057Z,1758326827.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.3,  10.5 (Local)

2025-09-20T00:07:07.059Z,1758326827.059 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.3

2025-09-20T00:07:07.065Z,1758326827.065 [DAT](INFO): DAT read: 00:07:08.0768 LVL= 24800, 27937, 27266, 32755, AGC= 58, IDX= 508, 0.29,-1.612, 2.823,-1.813,-1.960, PHS= 0.450,-1.456, 0.103, RAW= 140.2,  10.3, CAL= 139.6,  11.2, ROT=  10.4, -11.2

2025-09-20T00:07:07.067Z,1758326827.067 [DAT](INFO): got valid direction response:
 00:07:08.0768 LVL= 24800, 27937, 27266, 32755, AGC= 58, IDX= 508, 0.29,-1.612, 2.823,-1.813,-1.960, PHS= 0.450,-1.456, 0.103, RAW= 140.2,  10.3, CAL= 139.6,  11.2, ROT=  10.4, -11.2

2025-09-20T00:07:07.067Z,1758326827.067 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-09-20T00:07:07.068Z,1758326827.068 [DAT](INFO): direction in FSK: [0.964840,0.177081,0.194234]
2025-09-20T00:07:07.069Z,1758326827.069 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:07.076Z,1758326827.076 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.550640
2025-09-20T00:07:07.305Z,1758326827.305 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.780735
2025-09-20T00:07:07.325Z,1758326827.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.505290 s,
      deltaX: -0.299999 m,
      approachRate: -0.593717 m/s,
      rangeRepo size: 4

2025-09-20T00:07:07.327Z,1758326827.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.944229 m,
      bearing: 246.942511 deg,
      lat: 36.779406 deg,
      lon: -121.859732 deg,
      deltaT: 0.505290 s,
      deltaX: -0.299202 m,
      approachRate: -0.592139 m/s,
      posRepo size: 4

2025-09-20T00:07:07.332Z,1758326827.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.94 m.
2025-09-20T00:07:07.335Z,1758326827.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.944229 m,
      nav range: 20.437122 m,
      bearing: 246.860657 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087479 deg/s,
      cmd heading: 234.574787 deg,
      new cmd heading: 234.489564 deg.

2025-09-20T00:07:07.340Z,1758326827.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092615 target range: 20.944229 and range: 21.00 m.
2025-09-20T00:07:07.559Z,1758326827.559 [DAT](INFO): DAT read: Rx Time:00:07:08.5767 

2025-09-20T00:07:07.560Z,1758326827.560 [DAT](INFO): Rx dataTimestamp_ set to:1758326827.559245
2025-09-20T00:07:07.562Z,1758326827.562 [DAT](INFO): DAT read: Bearing  23.2,  11.0 (Local)

2025-09-20T00:07:07.562Z,1758326827.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.2,  11.0 (Local)

2025-09-20T00:07:07.565Z,1758326827.565 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.3

2025-09-20T00:07:07.572Z,1758326827.572 [DAT](INFO): DAT read: 00:07:08.5767 LVL= 24912, 32401, 29938, 32755, AGC= 57, IDX= 507, 0.21,-2.650, 1.811,-2.865,-3.003, PHS= 0.455,-1.424, 0.094, RAW= 139.6,  10.1, CAL= 139.1,  11.1, ROT=  10.9, -11.1

2025-09-20T00:07:07.573Z,1758326827.573 [DAT](INFO): got valid direction response:
 00:07:08.5767 LVL= 24912, 32401, 29938, 32755, AGC= 57, IDX= 507, 0.21,-2.650, 1.811,-2.865,-3.003, PHS= 0.455,-1.424, 0.094, RAW= 139.6,  10.1, CAL= 139.1,  11.1, ROT=  10.9, -11.1

2025-09-20T00:07:07.574Z,1758326827.574 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-09-20T00:07:07.575Z,1758326827.575 [DAT](INFO): direction in FSK: [0.963589,0.185558,0.192522]
2025-09-20T00:07:07.575Z,1758326827.575 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:07.602Z,1758326827.602 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.077351
2025-09-20T00:07:07.709Z,1758326827.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.504031 s,
      deltaX: -0.100000 m,
      approachRate: -0.198401 m/s,
      rangeRepo size: 4

2025-09-20T00:07:07.711Z,1758326827.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.844494 m,
      bearing: 247.397115 deg,
      lat: 36.779406 deg,
      lon: -121.859733 deg,
      deltaT: 0.504031 s,
      deltaX: -0.099735 m,
      approachRate: -0.197875 m/s,
      posRepo size: 4

2025-09-20T00:07:07.741Z,1758326827.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-09-20T00:07:07.753Z,1758326827.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.844494 m,
      nav range: 20.337255 m,
      bearing: 246.909382 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087479 deg/s,
      cmd heading: 234.489574 deg,
      new cmd heading: 234.422505 deg.

2025-09-20T00:07:07.758Z,1758326827.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091444 target range: 20.844494 and range: 20.90 m.
2025-09-20T00:07:07.809Z,1758326827.809 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.284752
2025-09-20T00:07:08.064Z,1758326828.064 [DAT](INFO): DAT read: Rx Time:00:07:09.0765 

2025-09-20T00:07:08.065Z,1758326828.065 [DAT](INFO): Rx dataTimestamp_ set to:1758326828.064303
2025-09-20T00:07:08.067Z,1758326828.067 [DAT](INFO): DAT read: Bearing  23.4,  11.3 (Local)

2025-09-20T00:07:08.067Z,1758326828.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.4,  11.3 (Local)

2025-09-20T00:07:08.070Z,1758326828.070 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.4

2025-09-20T00:07:08.075Z,1758326828.075 [DAT](INFO): DAT read: 00:07:09.0765 LVL= 24816, 30417, 28498, 32755, AGC= 57, IDX= 505, 0.07, 2.135, 0.309, 1.910, 1.782, PHS= 0.455,-1.428, 0.084, RAW= 139.3,  10.3, CAL= 138.8,  11.3, ROT=  11.2, -11.3

2025-09-20T00:07:08.077Z,1758326828.077 [DAT](INFO): got valid direction response:
 00:07:09.0765 LVL= 24816, 30417, 28498, 32755, AGC= 57, IDX= 505, 0.07, 2.135, 0.309, 1.910, 1.782, PHS= 0.455,-1.428, 0.084, RAW= 139.3,  10.3, CAL= 138.8,  11.3, ROT=  11.2, -11.3

2025-09-20T00:07:08.077Z,1758326828.077 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-09-20T00:07:08.078Z,1758326828.078 [DAT](INFO): direction in FSK: [0.961939,0.190469,0.195946]
2025-09-20T00:07:08.078Z,1758326828.078 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:08.098Z,1758326828.098 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.573753
2025-09-20T00:07:08.239Z,1758326828.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.505058 s,
      deltaX: -0.299999 m,
      approachRate: -0.593990 m/s,
      rangeRepo size: 4

2025-09-20T00:07:08.245Z,1758326828.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.545216 m,
      bearing: 247.681289 deg,
      lat: 36.779407 deg,
      lon: -121.859733 deg,
      deltaT: 0.505058 s,
      deltaX: -0.299278 m,
      approachRate: -0.592562 m/s,
      posRepo size: 4

2025-09-20T00:07:08.246Z,1758326828.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.55 m.
2025-09-20T00:07:08.253Z,1758326828.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.545216 m,
      nav range: 20.094627 m,
      bearing: 247.235913 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087479 deg/s,
      cmd heading: 234.422502 deg,
      new cmd heading: 234.329739 deg.

2025-09-20T00:07:08.255Z,1758326828.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089826 target range: 20.545216 and range: 20.60 m.
2025-09-20T00:07:08.314Z,1758326828.314 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.789330
2025-09-20T00:07:08.565Z,1758326828.565 [DAT](INFO): DAT read: Rx Time:00:07:09.5764 

2025-09-20T00:07:08.566Z,1758326828.566 [DAT](INFO): Rx dataTimestamp_ set to:1758326828.565589
2025-09-20T00:07:08.567Z,1758326828.567 [DAT](INFO): DAT read: Bearing  23.0,  11.0 (Local)

2025-09-20T00:07:08.567Z,1758326828.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.0,  11.0 (Local)

2025-09-20T00:07:08.570Z,1758326828.570 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed 0.3

2025-09-20T00:07:08.574Z,1758326828.574 [DAT](INFO): DAT read: 00:07:09.5764 LVL= 22768, 32161, 24802, 32755, AGC= 56, IDX= 505,-0.14,-2.804, 1.643,-3.023, 3.118, PHS= 0.464,-1.430, 0.099, RAW= 139.5,  10.0, CAL= 139.1,  10.9, ROT=  10.9, -10.9

2025-09-20T00:07:08.575Z,1758326828.575 [DAT](INFO): got valid direction response:
 00:07:09.5764 LVL= 22768, 32161, 24802, 32755, AGC= 56, IDX= 505,-0.14,-2.804, 1.643,-3.023, 3.118, PHS= 0.464,-1.430, 0.099, RAW= 139.5,  10.0, CAL= 139.1,  10.9, ROT=  10.9, -10.9

2025-09-20T00:07:08.576Z,1758326828.576 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-09-20T00:07:08.577Z,1758326828.577 [DAT](INFO): direction in FSK: [0.964243,0.185684,0.189095]
2025-09-20T00:07:08.577Z,1758326828.577 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:08.580Z,1758326828.580 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.056210
2025-09-20T00:07:08.651Z,1758326828.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.501286 s,
      deltaX: -0.200001 m,
      approachRate: -0.398975 m/s,
      rangeRepo size: 4

2025-09-20T00:07:08.666Z,1758326828.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.345747 m,
      bearing: 247.367545 deg,
      lat: 36.779407 deg,
      lon: -121.859733 deg,
      deltaT: 0.501286 s,
      deltaX: -0.199469 m,
      approachRate: -0.397914 m/s,
      posRepo size: 4

2025-09-20T00:07:08.666Z,1758326828.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.35 m.
2025-09-20T00:07:08.673Z,1758326828.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.345747 m,
      nav range: 19.965034 m,
      bearing: 247.255183 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087479 deg/s,
      cmd heading: 234.329748 deg,
      new cmd heading: 234.257589 deg.

2025-09-20T00:07:08.674Z,1758326828.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088566 target range: 20.345747 and range: 20.40 m.
2025-09-20T00:07:08.817Z,1758326828.817 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.292747
2025-09-20T00:07:09.069Z,1758326829.069 [DAT](INFO): DAT read: Rx Time:00:07:10.0762 

2025-09-20T00:07:09.070Z,1758326829.070 [DAT](INFO): Rx dataTimestamp_ set to:1758326829.069648
2025-09-20T00:07:09.071Z,1758326829.071 [DAT](INFO): DAT read: Bearing  23.9,  10.4 (Local)

2025-09-20T00:07:09.071Z,1758326829.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.9,  10.4 (Local)

2025-09-20T00:07:09.074Z,1758326829.074 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.3

2025-09-20T00:07:09.079Z,1758326829.079 [DAT](INFO): DAT read: 00:07:10.0762 LVL= 24768, 28337, 29554, 32755, AGC= 57, IDX= 503,-0.37, 2.334, 0.476, 2.130, 2.002, PHS= 0.434,-1.482, 0.084, RAW= 140.1,  10.9, CAL= 139.6,  11.9, ROT=  10.4, -11.9

2025-09-20T00:07:09.080Z,1758326829.080 [DAT](INFO): got valid direction response:
 00:07:10.0762 LVL= 24768, 28337, 29554, 32755, AGC= 57, IDX= 503,-0.37, 2.334, 0.476, 2.130, 2.002, PHS= 0.434,-1.482, 0.084, RAW= 140.1,  10.9, CAL= 139.6,  11.9, ROT=  10.4, -11.9

2025-09-20T00:07:09.080Z,1758326829.080 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-09-20T00:07:09.081Z,1758326829.081 [DAT](INFO): direction in FSK: [0.962434,0.176640,0.206204]
2025-09-20T00:07:09.082Z,1758326829.082 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:09.113Z,1758326829.113 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.589268
2025-09-20T00:07:09.192Z,1758326829.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504059 s,
      deltaX: -0.299999 m,
      approachRate: -0.595167 m/s,
      rangeRepo size: 4

2025-09-20T00:07:09.194Z,1758326829.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.046600 m,
      bearing: 246.885251 deg,
      lat: 36.779407 deg,
      lon: -121.859733 deg,
      deltaT: 0.504059 s,
      deltaX: -0.299147 m,
      approachRate: -0.593475 m/s,
      posRepo size: 4

2025-09-20T00:07:09.195Z,1758326829.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.05 m.
2025-09-20T00:07:09.202Z,1758326829.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.046600 m,
      nav range: 19.736000 m,
      bearing: 247.221213 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087479 deg/s,
      cmd heading: 234.257593 deg,
      new cmd heading: 234.163679 deg.

2025-09-20T00:07:09.203Z,1758326829.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086927 target range: 20.046600 and range: 20.10 m.
2025-09-20T00:07:09.321Z,1758326829.321 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.796906
2025-09-20T00:07:09.549Z,1758326829.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:09.551Z,1758326829.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.05 m.
2025-09-20T00:07:09.558Z,1758326829.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.046600 m,
      nav range: 19.587601 m,
      bearing: 247.198968 deg,
      approach rate: -0.407824 m/s,
      LOS rate: -0.061593 deg/s,
      cmd heading: 234.163692 deg,
      new cmd heading: 234.118867 deg.

2025-09-20T00:07:09.559Z,1758326829.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086145 target range: 20.046600 and range: 20.10 m.
2025-09-20T00:07:09.574Z,1758326829.574 [DAT](INFO): DAT read: Rx Time:00:07:10.5762 

2025-09-20T00:07:09.574Z,1758326829.574 [DAT](INFO): Rx dataTimestamp_ set to:1758326829.573704
2025-09-20T00:07:09.575Z,1758326829.575 [DAT](INFO): DAT read: Bearing  22.7,   9.5 (Local)

2025-09-20T00:07:09.576Z,1758326829.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.7,   9.5 (Local)

2025-09-20T00:07:09.578Z,1758326829.578 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.3

2025-09-20T00:07:09.582Z,1758326829.582 [DAT](INFO): DAT read: 00:07:10.5762 LVL= 23472, 28817, 26834, 32755, AGC= 56, IDX= 502, 0.34,-0.816,-2.684,-0.990,-1.169, PHS= 0.455,-1.470, 0.135, RAW= 141.1,   9.9, CAL= 140.6,  10.8, ROT=   9.4, -10.8

2025-09-20T00:07:09.583Z,1758326829.583 [DAT](INFO): got valid direction response:
 00:07:10.5762 LVL= 23472, 28817, 26834, 32755, AGC= 56, IDX= 502, 0.34,-0.816,-2.684,-0.990,-1.169, PHS= 0.455,-1.470, 0.135, RAW= 141.1,   9.9, CAL= 140.6,  10.8, ROT=   9.4, -10.8

2025-09-20T00:07:09.584Z,1758326829.584 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-09-20T00:07:09.585Z,1758326829.585 [DAT](INFO): direction in FSK: [0.969097,0.160433,0.187381]
2025-09-20T00:07:09.585Z,1758326829.585 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:09.593Z,1758326829.593 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.068615
2025-09-20T00:07:09.825Z,1758326829.825 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.300800
2025-09-20T00:07:09.958Z,1758326829.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504056 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:09.986Z,1758326829.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.046534 m,
      bearing: 245.806693 deg,
      lat: 36.779407 deg,
      lon: -121.859734 deg,
      deltaT: 0.504056 s,
      deltaX: -0.000067 m,
      approachRate: -0.000132 m/s,
      posRepo size: 4

2025-09-20T00:07:09.993Z,1758326829.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.05 m.
2025-09-20T00:07:10.016Z,1758326830.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.046534 m,
      nav range: 19.451262 m,
      bearing: 247.214516 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061593 deg/s,
      cmd heading: 234.118859 deg,
      new cmd heading: 234.069340 deg.

2025-09-20T00:07:10.025Z,1758326830.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085281 target range: 20.046534 and range: 20.10 m.
2025-09-20T00:07:10.079Z,1758326830.079 [DAT](INFO): DAT read: Rx Time:00:07:11.0760 

2025-09-20T00:07:10.079Z,1758326830.079 [DAT](INFO): Rx dataTimestamp_ set to:1758326830.079112
2025-09-20T00:07:10.081Z,1758326830.081 [DAT](INFO): DAT read: Bearing  23.0,   9.1 (Local)

2025-09-20T00:07:10.082Z,1758326830.082 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.0,   9.1 (Local)

2025-09-20T00:07:10.085Z,1758326830.085 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.4

2025-09-20T00:07:10.092Z,1758326830.092 [DAT](INFO): DAT read: 00:07:11.0760 LVL= 23632, 28001, 28658, 32755, AGC= 57, IDX= 500, 0.12,-1.671, 2.741,-1.836,-2.012, PHS= 0.443,-1.485, 0.131, RAW= 141.3,  10.2, CAL= 140.8,  11.1, ROT=   9.2, -11.1

2025-09-20T00:07:10.093Z,1758326830.093 [DAT](INFO): got valid direction response:
 00:07:11.0760 LVL= 23632, 28001, 28658, 32755, AGC= 57, IDX= 500, 0.12,-1.671, 2.741,-1.836,-2.012, PHS= 0.443,-1.485, 0.131, RAW= 141.3,  10.2, CAL= 140.8,  11.1, ROT=   9.2, -11.1

2025-09-20T00:07:10.094Z,1758326830.094 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-09-20T00:07:10.095Z,1758326830.095 [DAT](INFO): direction in FSK: [0.968670,0.156890,0.192522]
2025-09-20T00:07:10.095Z,1758326830.095 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:10.100Z,1758326830.100 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.575424
2025-09-20T00:07:10.329Z,1758326830.329 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.804779
2025-09-20T00:07:10.410Z,1758326830.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.505408 s,
      deltaX: -0.300001 m,
      approachRate: -0.593582 m/s,
      rangeRepo size: 4

2025-09-20T00:07:10.416Z,1758326830.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.747330 m,
      bearing: 245.605026 deg,
      lat: 36.779407 deg,
      lon: -121.859733 deg,
      deltaT: 0.505408 s,
      deltaX: -0.299204 m,
      approachRate: -0.592005 m/s,
      posRepo size: 4

2025-09-20T00:07:10.417Z,1758326830.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.75 m.
2025-09-20T00:07:10.419Z,1758326830.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.747330 m,
      nav range: 19.233528 m,
      bearing: 247.005579 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061593 deg/s,
      cmd heading: 234.069353 deg,
      new cmd heading: 234.013197 deg.

2025-09-20T00:07:10.425Z,1758326830.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084301 target range: 19.747330 and range: 19.80 m.
2025-09-20T00:07:10.583Z,1758326830.583 [DAT](INFO): DAT read: Rx Time:00:07:11.5760 

2025-09-20T00:07:10.583Z,1758326830.583 [DAT](INFO): Rx dataTimestamp_ set to:1758326830.583091
2025-09-20T00:07:10.585Z,1758326830.585 [DAT](INFO): DAT read: Bearing  23.2,   9.8 (Local)

2025-09-20T00:07:10.585Z,1758326830.585 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.2,   9.8 (Local)

2025-09-20T00:07:10.592Z,1758326830.592 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.4

2025-09-20T00:07:10.606Z,1758326830.606 [DAT](INFO): DAT read: 00:07:11.5760 LVL= 20400, 28785, 26210, 32563, AGC= 55, IDX= 500,-0.06,-2.452, 1.978,-2.637,-2.792, PHS= 0.442,-1.468, 0.111, RAW= 140.7,  10.4, CAL= 140.1,  11.3, ROT=   9.9, -11.3

2025-09-20T00:07:10.607Z,1758326830.607 [DAT](INFO): got valid direction response:
 00:07:11.5760 LVL= 20400, 28785, 26210, 32563, AGC= 55, IDX= 500,-0.06,-2.452, 1.978,-2.637,-2.792, PHS= 0.442,-1.468, 0.111, RAW= 140.7,  10.4, CAL= 140.1,  11.3, ROT=   9.9, -11.3

2025-09-20T00:07:10.607Z,1758326830.607 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-09-20T00:07:10.613Z,1758326830.613 [DAT](INFO): direction in FSK: [0.966013,0.168596,0.195946]
2025-09-20T00:07:10.613Z,1758326830.613 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:10.621Z,1758326830.621 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.096447
2025-09-20T00:07:10.833Z,1758326830.833 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.308907
2025-09-20T00:07:10.869Z,1758326830.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.503979 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:10.871Z,1758326830.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.747383 m,
      bearing: 246.318029 deg,
      lat: 36.779404 deg,
      lon: -121.859733 deg,
      deltaT: 0.503979 s,
      deltaX: 0.000053 m,
      approachRate: 0.000106 m/s,
      posRepo size: 4

2025-09-20T00:07:10.872Z,1758326830.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.75 m.
2025-09-20T00:07:10.878Z,1758326830.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.747383 m,
      nav range: 19.165197 m,
      bearing: 246.077648 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061593 deg/s,
      cmd heading: 234.013209 deg,
      new cmd heading: 233.957201 deg.

2025-09-20T00:07:10.879Z,1758326830.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083323 target range: 19.747383 and range: 19.80 m.
2025-09-20T00:07:11.085Z,1758326831.085 [DAT](INFO): DAT read: Rx Time:00:07:12.0757 

2025-09-20T00:07:11.086Z,1758326831.086 [DAT](INFO): Rx dataTimestamp_ set to:1758326831.085568
2025-09-20T00:07:11.087Z,1758326831.087 [DAT](INFO): DAT read: Bearing  23.3,   9.7 (Local)

2025-09-20T00:07:11.087Z,1758326831.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.3,   9.7 (Local)

2025-09-20T00:07:11.090Z,1758326831.090 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.4

2025-09-20T00:07:11.094Z,1758326831.094 [DAT](INFO): DAT read: 00:07:12.0757 LVL= 20512, 29553, 24482, 32755, AGC= 55, IDX= 498,-0.29, 2.583, 0.732, 2.400, 2.247, PHS= 0.438,-1.469, 0.109, RAW= 140.7,  10.5, CAL= 140.2,  11.4, ROT=   9.8, -11.4

2025-09-20T00:07:11.095Z,1758326831.095 [DAT](INFO): got valid direction response:
 00:07:12.0757 LVL= 20512, 29553, 24482, 32755, AGC= 55, IDX= 498,-0.29, 2.583, 0.732, 2.400, 2.247, PHS= 0.438,-1.469, 0.109, RAW= 140.7,  10.5, CAL= 140.2,  11.4, ROT=   9.8, -11.4

2025-09-20T00:07:11.095Z,1758326831.095 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-09-20T00:07:11.096Z,1758326831.096 [DAT](INFO): direction in FSK: [0.965967,0.166851,0.197657]
2025-09-20T00:07:11.097Z,1758326831.097 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:11.100Z,1758326831.100 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.576241
2025-09-20T00:07:11.306Z,1758326831.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.502477 s,
      deltaX: -0.400000 m,
      approachRate: -0.796056 m/s,
      rangeRepo size: 4

2025-09-20T00:07:11.309Z,1758326831.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.348446 m,
      bearing: 246.207977 deg,
      lat: 36.779404 deg,
      lon: -121.859734 deg,
      deltaT: 0.502477 s,
      deltaX: -0.398937 m,
      approachRate: -0.793941 m/s,
      posRepo size: 4

2025-09-20T00:07:11.309Z,1758326831.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-09-20T00:07:11.312Z,1758326831.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.348446 m,
      nav range: 18.979774 m,
      bearing: 246.026071 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061593 deg/s,
      cmd heading: 233.957202 deg,
      new cmd heading: 233.902847 deg.

2025-09-20T00:07:11.313Z,1758326831.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082375 target range: 19.348446 and range: 19.40 m.
2025-09-20T00:07:11.337Z,1758326831.337 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.812874
2025-09-20T00:07:11.589Z,1758326831.589 [DAT](INFO): DAT read: Rx Time:00:07:12.5756 

2025-09-20T00:07:11.590Z,1758326831.590 [DAT](INFO): Rx dataTimestamp_ set to:1758326831.589318
2025-09-20T00:07:11.591Z,1758326831.591 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.4

2025-09-20T00:07:11.591Z,1758326831.591 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-09-20T00:07:11.592Z,1758326831.592 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.068245
2025-09-20T00:07:11.678Z,1758326831.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:11.685Z,1758326831.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503750 s,
      deltaX: -0.199999 m,
      approachRate: -0.397020 m/s,
      rangeRepo size: 4

2025-09-20T00:07:11.685Z,1758326831.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-09-20T00:07:11.690Z,1758326831.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.348446 m,
      nav range: 18.824007 m,
      bearing: 245.971469 deg,
      approach rate: -0.415899 m/s,
      LOS rate: -0.146992 deg/s,
      cmd heading: 233.902833 deg,
      new cmd heading: 233.792727 deg.

2025-09-20T00:07:11.691Z,1758326831.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080453 target range: 19.348446 and range: 19.20 m.
2025-09-20T00:07:11.841Z,1758326831.841 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.316757
2025-09-20T00:07:12.094Z,1758326832.094 [DAT](INFO): DAT read: Rx Time:00:07:13.0754 

2025-09-20T00:07:12.094Z,1758326832.094 [DAT](INFO): Rx dataTimestamp_ set to:1758326832.093812
2025-09-20T00:07:12.095Z,1758326832.095 [DAT](INFO): DAT read: Bearing  23.0,   8.7 (Local)

2025-09-20T00:07:12.096Z,1758326832.096 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.0,   8.7 (Local)

2025-09-20T00:07:12.098Z,1758326832.098 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.4

2025-09-20T00:07:12.111Z,1758326832.111 [DAT](INFO): DAT read: 00:07:13.0754 LVL= 23376, 32497, 26866, 32755, AGC= 54, IDX= 510, 0.07, 2.896, 1.069, 2.745, 2.572, PHS= 0.426,-1.457, 0.129, RAW= 141.6,  10.3, CAL= 141.0,  11.2, ROT=   9.0, -11.2

2025-09-20T00:07:12.112Z,1758326832.112 [DAT](INFO): got valid direction response:
 00:07:13.0754 LVL= 23376, 32497, 26866, 32755, AGC= 54, IDX= 510, 0.07, 2.896, 1.069, 2.745, 2.572, PHS= 0.426,-1.457, 0.129, RAW= 141.6,  10.3, CAL= 141.0,  11.2, ROT=   9.0, -11.2

2025-09-20T00:07:12.112Z,1758326832.112 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-09-20T00:07:12.113Z,1758326832.113 [DAT](INFO): direction in FSK: [0.968878,0.153455,0.194234]
2025-09-20T00:07:12.113Z,1758326832.113 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:12.121Z,1758326832.121 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.596760
2025-09-20T00:07:12.149Z,1758326832.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.504494 s,
      deltaX: -0.300001 m,
      approachRate: -0.594657 m/s,
      rangeRepo size: 4

2025-09-20T00:07:12.151Z,1758326832.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.849720 m,
      bearing: 245.397126 deg,
      lat: 36.779403 deg,
      lon: -121.859734 deg,
      deltaT: 1.008244 s,
      deltaX: -0.498726 m,
      approachRate: -0.494648 m/s,
      posRepo size: 4

2025-09-20T00:07:12.152Z,1758326832.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.85 m.
2025-09-20T00:07:12.155Z,1758326832.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.849720 m,
      nav range: 18.671572 m,
      bearing: 245.663217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.146992 deg/s,
      cmd heading: 233.792731 deg,
      new cmd heading: 233.654867 deg.

2025-09-20T00:07:12.162Z,1758326832.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078047 target range: 18.849720 and range: 18.90 m.
2025-09-20T00:07:12.345Z,1758326832.345 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.820904
2025-09-20T00:07:12.542Z,1758326832.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.85 m.
2025-09-20T00:07:12.545Z,1758326832.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.849720 m,
      nav range: 18.479856 m,
      bearing: 245.582318 deg,
      approach rate: -0.487627 m/s,
      LOS rate: -0.207902 deg/s,
      cmd heading: 233.654870 deg,
      new cmd heading: 233.491393 deg.

2025-09-20T00:07:12.546Z,1758326832.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075193 target range: 18.849720 and range: 18.90 m.
2025-09-20T00:07:12.598Z,1758326832.598 [DAT](INFO): DAT read: Rx Time:00:07:13.5754 

2025-09-20T00:07:12.598Z,1758326832.598 [DAT](INFO): Rx dataTimestamp_ set to:1758326832.598179
2025-09-20T00:07:12.600Z,1758326832.600 [DAT](INFO): DAT read: Bearing  23.6,   8.3 (Local)

2025-09-20T00:07:12.601Z,1758326832.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.6,   8.3 (Local)

2025-09-20T00:07:12.604Z,1758326832.604 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.4

2025-09-20T00:07:12.611Z,1758326832.611 [DAT](INFO): DAT read: 00:07:13.5754 LVL= 23472, 27633, 27634, 32755, AGC= 55, IDX= 510,-0.19,-2.867, 1.589,-3.006, 3.114, PHS= 0.404,-1.480, 0.119, RAW= 142.0,  10.9, CAL= 141.4,  11.8, ROT=   8.6, -11.8

2025-09-20T00:07:12.612Z,1758326832.612 [DAT](INFO): got valid direction response:
 00:07:13.5754 LVL= 23472, 27633, 27634, 32755, AGC= 55, IDX= 510,-0.19,-2.867, 1.589,-3.006, 3.114, PHS= 0.404,-1.480, 0.119, RAW= 142.0,  10.9, CAL= 141.4,  11.8, ROT=   8.6, -11.8

2025-09-20T00:07:12.613Z,1758326832.613 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-09-20T00:07:12.614Z,1758326832.614 [DAT](INFO): direction in FSK: [0.967861,0.146375,0.204496]
2025-09-20T00:07:12.615Z,1758326832.615 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:12.631Z,1758326832.631 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.107296
2025-09-20T00:07:12.849Z,1758326832.849 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.324787
2025-09-20T00:07:13.007Z,1758326833.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.504367 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:13.023Z,1758326833.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.849874 m,
      bearing: 244.922183 deg,
      lat: 36.779403 deg,
      lon: -121.859734 deg,
      deltaT: 0.504367 s,
      deltaX: 0.000154 m,
      approachRate: 0.000306 m/s,
      posRepo size: 4

2025-09-20T00:07:13.030Z,1758326833.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.85 m.
2025-09-20T00:07:13.055Z,1758326833.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.849874 m,
      nav range: 18.315763 m,
      bearing: 245.512632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.207902 deg/s,
      cmd heading: 233.491383 deg,
      new cmd heading: 233.301065 deg.

2025-09-20T00:07:13.060Z,1758326833.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.071872 target range: 18.849874 and range: 18.90 m.
2025-09-20T00:07:13.105Z,1758326833.105 [DAT](INFO): DAT read: Rx Time:00:07:14.0750 

2025-09-20T00:07:13.105Z,1758326833.105 [DAT](INFO): Rx dataTimestamp_ set to:1758326833.104965
2025-09-20T00:07:13.107Z,1758326833.107 [DAT](INFO): DAT read: Bearing  22.9,   7.3 (Local)

2025-09-20T00:07:13.107Z,1758326833.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.9,   7.3 (Local)

2025-09-20T00:07:13.109Z,1758326833.109 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.4

2025-09-20T00:07:13.114Z,1758326833.114 [DAT](INFO): DAT read: 00:07:14.0750 LVL= 20784, 25441, 27554, 32755, AGC= 55, IDX= 507, 0.39,-2.806, 1.635,-2.911,-3.113, PHS= 0.409,-1.490, 0.158, RAW= 143.0,  10.3, CAL= 142.5,  11.3, ROT=   7.5, -11.3

2025-09-20T00:07:13.117Z,1758326833.117 [DAT](INFO): got valid direction response:
 00:07:14.0750 LVL= 20784, 25441, 27554, 32755, AGC= 55, IDX= 507, 0.39,-2.806, 1.635,-2.911,-3.113, PHS= 0.409,-1.490, 0.158, RAW= 143.0,  10.3, CAL= 142.5,  11.3, ROT=   7.5, -11.3

2025-09-20T00:07:13.118Z,1758326833.118 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-09-20T00:07:13.119Z,1758326833.119 [DAT](INFO): direction in FSK: [0.972225,0.127996,0.195946]
2025-09-20T00:07:13.119Z,1758326833.119 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:13.142Z,1758326833.142 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.617382
2025-09-20T00:07:13.357Z,1758326833.357 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.832767
2025-09-20T00:07:13.518Z,1758326833.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.506786 s,
      deltaX: -0.400000 m,
      approachRate: -0.789287 m/s,
      rangeRepo size: 4

2025-09-20T00:07:13.520Z,1758326833.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.450935 m,
      bearing: 243.713040 deg,
      lat: 36.779403 deg,
      lon: -121.859734 deg,
      deltaT: 0.506786 s,
      deltaX: -0.398939 m,
      approachRate: -0.787194 m/s,
      posRepo size: 4

2025-09-20T00:07:13.520Z,1758326833.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.45 m.
2025-09-20T00:07:13.523Z,1758326833.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.450935 m,
      nav range: 18.053902 m,
      bearing: 245.383618 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.207902 deg/s,
      cmd heading: 233.301066 deg,
      new cmd heading: 233.085908 deg.

2025-09-20T00:07:13.524Z,1758326833.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.068117 target range: 18.450935 and range: 18.50 m.
2025-09-20T00:07:13.610Z,1758326833.610 [DAT](INFO): DAT read: Rx Time:00:07:14.5750 

2025-09-20T00:07:13.610Z,1758326833.610 [DAT](INFO): Rx dataTimestamp_ set to:1758326833.610151
2025-09-20T00:07:13.612Z,1758326833.612 [DAT](INFO): DAT read: Bearing  23.1,   7.0 (Local)

2025-09-20T00:07:13.612Z,1758326833.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.1,   7.0 (Local)

2025-09-20T00:07:13.614Z,1758326833.614 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.4

2025-09-20T00:07:13.619Z,1758326833.619 [DAT](INFO): DAT read: 00:07:14.5750 LVL= 22560, 28337, 27506, 32755, AGC= 56, IDX= 507, 0.06,-1.803, 2.660,-1.900,-2.096, PHS= 0.394,-1.483, 0.152, RAW= 143.2,  10.6, CAL= 142.7,  11.6, ROT=   7.3, -11.6

2025-09-20T00:07:13.620Z,1758326833.620 [DAT](INFO): got valid direction response:
 00:07:14.5750 LVL= 22560, 28337, 27506, 32755, AGC= 56, IDX= 507, 0.06,-1.803, 2.660,-1.900,-2.096, PHS= 0.394,-1.483, 0.152, RAW= 143.2,  10.6, CAL= 142.7,  11.6, ROT=   7.3, -11.6

2025-09-20T00:07:13.621Z,1758326833.621 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-09-20T00:07:13.622Z,1758326833.622 [DAT](INFO): direction in FSK: [0.971635,0.124469,0.201078]
2025-09-20T00:07:13.622Z,1758326833.622 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:13.626Z,1758326833.626 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.101379
2025-09-20T00:07:13.861Z,1758326833.861 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.336914
2025-09-20T00:07:13.921Z,1758326833.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.505186 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:13.923Z,1758326833.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.451004 m,
      bearing: 243.522206 deg,
      lat: 36.779401 deg,
      lon: -121.859733 deg,
      deltaT: 0.505186 s,
      deltaX: 0.000069 m,
      approachRate: 0.000136 m/s,
      posRepo size: 4

2025-09-20T00:07:13.923Z,1758326833.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.45 m.
2025-09-20T00:07:13.957Z,1758326833.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.451004 m,
      nav range: 17.915321 m,
      bearing: 244.542056 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.207902 deg/s,
      cmd heading: 233.085915 deg,
      new cmd heading: 232.919974 deg.

2025-09-20T00:07:13.963Z,1758326833.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.065220 target range: 18.451004 and range: 18.50 m.
2025-09-20T00:07:14.114Z,1758326834.114 [DAT](INFO): DAT read: Rx Time:00:07:15.0749 

2025-09-20T00:07:14.114Z,1758326834.114 [DAT](INFO): Rx dataTimestamp_ set to:1758326834.113758
2025-09-20T00:07:14.115Z,1758326834.115 [DAT](INFO): DAT read: Bearing  22.9,   7.7 (Local)

2025-09-20T00:07:14.116Z,1758326834.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.9,   7.7 (Local)

2025-09-20T00:07:14.118Z,1758326834.118 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed 0.4

2025-09-20T00:07:14.123Z,1758326834.123 [DAT](INFO): DAT read: 00:07:15.0749 LVL= 19312, 31441, 20642, 31123, AGC= 54, IDX= 505,-0.18, 1.730,-0.050, 1.617, 1.432, PHS= 0.401,-1.436, 0.141, RAW= 142.5,  10.4, CAL= 142.0,  11.3, ROT=   8.0, -11.3

2025-09-20T00:07:14.124Z,1758326834.124 [DAT](INFO): got valid direction response:
 00:07:15.0749 LVL= 19312, 31441, 20642, 31123, AGC= 54, IDX= 505,-0.18, 1.730,-0.050, 1.617, 1.432, PHS= 0.401,-1.436, 0.141, RAW= 142.5,  10.4, CAL= 142.0,  11.3, ROT=   8.0, -11.3

2025-09-20T00:07:14.124Z,1758326834.124 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-09-20T00:07:14.125Z,1758326834.125 [DAT](INFO): direction in FSK: [0.971071,0.136475,0.195946]
2025-09-20T00:07:14.125Z,1758326834.125 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:14.130Z,1758326834.130 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.606232
2025-09-20T00:07:14.365Z,1758326834.365 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.840874
2025-09-20T00:07:14.377Z,1758326834.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.503607 s,
      deltaX: -0.299999 m,
      approachRate: -0.595701 m/s,
      rangeRepo size: 4

2025-09-20T00:07:14.379Z,1758326834.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.151798 m,
      bearing: 244.102185 deg,
      lat: 36.779400 deg,
      lon: -121.859733 deg,
      deltaT: 0.503607 s,
      deltaX: -0.299206 m,
      approachRate: -0.594126 m/s,
      posRepo size: 4

2025-09-20T00:07:14.384Z,1758326834.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.15 m.
2025-09-20T00:07:14.387Z,1758326834.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.151798 m,
      nav range: 17.767883 m,
      bearing: 244.047758 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.207902 deg/s,
      cmd heading: 232.919969 deg,
      new cmd heading: 232.728482 deg.

2025-09-20T00:07:14.392Z,1758326834.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.061878 target range: 18.151798 and range: 18.20 m.
2025-09-20T00:07:14.618Z,1758326834.618 [DAT](INFO): DAT read: Rx Time:00:07:15.5747 

2025-09-20T00:07:14.618Z,1758326834.618 [DAT](INFO): Rx dataTimestamp_ set to:1758326834.617805
2025-09-20T00:07:14.619Z,1758326834.619 [DAT](INFO): DAT read: Bearing  22.1,   6.9 (Local)

2025-09-20T00:07:14.620Z,1758326834.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.1,   6.9 (Local)

2025-09-20T00:07:14.622Z,1758326834.622 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.4

2025-09-20T00:07:14.626Z,1758326834.626 [DAT](INFO): DAT read: 00:07:15.5747 LVL= 18992, 28401, 24658, 32755, AGC= 55, IDX= 503, 0.50, 3.136, 1.371, 3.052, 2.833, PHS= 0.405,-1.417, 0.175, RAW= 143.3,   9.8, CAL= 142.9,  10.6, ROT=   7.1, -10.6

2025-09-20T00:07:14.627Z,1758326834.627 [DAT](INFO): got valid direction response:
 00:07:15.5747 LVL= 18992, 28401, 24658, 32755, AGC= 55, IDX= 503, 0.50, 3.136, 1.371, 3.052, 2.833, PHS= 0.405,-1.417, 0.175, RAW= 143.3,   9.8, CAL= 142.9,  10.6, ROT=   7.1, -10.6

2025-09-20T00:07:14.635Z,1758326834.635 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-09-20T00:07:14.635Z,1758326834.635 [DAT](INFO): direction in FSK: [0.975398,0.121492,0.183951]
2025-09-20T00:07:14.636Z,1758326834.636 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:14.661Z,1758326834.661 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.136444
2025-09-20T00:07:14.782Z,1758326834.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.504047 s,
      deltaX: -0.300001 m,
      approachRate: -0.595185 m/s,
      rangeRepo size: 4

2025-09-20T00:07:14.788Z,1758326834.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.852592 m,
      bearing: 243.119544 deg,
      lat: 36.779398 deg,
      lon: -121.859733 deg,
      deltaT: 0.504047 s,
      deltaX: -0.299206 m,
      approachRate: -0.593607 m/s,
      posRepo size: 4

2025-09-20T00:07:14.789Z,1758326834.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.85 m.
2025-09-20T00:07:14.791Z,1758326834.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.852592 m,
      nav range: 17.660257 m,
      bearing: 243.567674 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.207902 deg/s,
      cmd heading: 232.728478 deg,
      new cmd heading: 232.560183 deg.

2025-09-20T00:07:14.797Z,1758326834.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.058941 target range: 17.852592 and range: 17.90 m.
2025-09-20T00:07:14.869Z,1758326834.869 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.344780
2025-09-20T00:07:15.122Z,1758326835.122 [DAT](INFO): DAT read: Rx Time:00:07:16.0745 

2025-09-20T00:07:15.122Z,1758326835.122 [DAT](INFO): Rx dataTimestamp_ set to:1758326835.121761
2025-09-20T00:07:15.123Z,1758326835.123 [DAT](INFO): DAT read: Bearing  21.7,   6.4 (Local)

2025-09-20T00:07:15.124Z,1758326835.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.7,   6.4 (Local)

2025-09-20T00:07:15.126Z,1758326835.126 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-09-20T00:07:15.131Z,1758326835.131 [DAT](INFO): DAT read: 00:07:16.0745 LVL= 19088, 30433, 20914, 31171, AGC= 54, IDX= 501, 0.24, 1.467,-0.272, 1.398, 1.167, PHS= 0.402,-1.393, 0.187, RAW= 143.7,   9.5, CAL= 143.3,  10.4, ROT=   6.7, -10.4

2025-09-20T00:07:15.132Z,1758326835.132 [DAT](INFO): got valid direction response:
 00:07:16.0745 LVL= 19088, 30433, 20914, 31171, AGC= 54, IDX= 501, 0.24, 1.467,-0.272, 1.398, 1.167, PHS= 0.402,-1.393, 0.187, RAW= 143.7,   9.5, CAL= 143.3,  10.4, ROT=   6.7, -10.4

2025-09-20T00:07:15.132Z,1758326835.132 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-09-20T00:07:15.133Z,1758326835.133 [DAT](INFO): direction in FSK: [0.976854,0.114754,0.180519]
2025-09-20T00:07:15.133Z,1758326835.133 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:15.137Z,1758326835.137 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.613071
2025-09-20T00:07:15.227Z,1758326835.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.503956 s,
      deltaX: -0.299999 m,
      approachRate: -0.595289 m/s,
      rangeRepo size: 4

2025-09-20T00:07:15.234Z,1758326835.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.553392 m,
      bearing: 242.672529 deg,
      lat: 36.779398 deg,
      lon: -121.859731 deg,
      deltaT: 0.503956 s,
      deltaX: -0.299200 m,
      approachRate: -0.593703 m/s,
      posRepo size: 4

2025-09-20T00:07:15.234Z,1758326835.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.55 m.
2025-09-20T00:07:15.242Z,1758326835.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.553392 m,
      nav range: 17.387821 m,
      bearing: 243.036575 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.207902 deg/s,
      cmd heading: 232.560182 deg,
      new cmd heading: 232.375029 deg.

2025-09-20T00:07:15.249Z,1758326835.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.055709 target range: 17.553392 and range: 17.60 m.
2025-09-20T00:07:15.373Z,1758326835.373 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.848984
2025-09-20T00:07:15.528Z,1758326835.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:15.530Z,1758326835.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.55 m.
2025-09-20T00:07:15.533Z,1758326835.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.553392 m,
      nav range: 17.245911 m,
      bearing: 242.934418 deg,
      approach rate: -0.467623 m/s,
      LOS rate: -0.339397 deg/s,
      cmd heading: 232.375029 deg,
      new cmd heading: 232.169035 deg.

2025-09-20T00:07:15.534Z,1758326835.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.052114 target range: 17.553392 and range: 17.60 m.
2025-09-20T00:07:15.630Z,1758326835.630 [DAT](INFO): DAT read: Rx Time:00:07:16.5745 

2025-09-20T00:07:15.631Z,1758326835.631 [DAT](INFO): Rx dataTimestamp_ set to:1758326835.630365
2025-09-20T00:07:15.632Z,1758326835.632 [DAT](INFO): DAT read: Bearing  22.2,   5.7 (Local)

2025-09-20T00:07:15.633Z,1758326835.633 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.2,   5.7 (Local)

2025-09-20T00:07:15.635Z,1758326835.635 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-09-20T00:07:15.644Z,1758326835.644 [DAT](INFO): DAT read: 00:07:16.5745 LVL= 19808, 26801, 23282, 32755, AGC= 55, IDX= 501,-0.02, 1.460,-0.265, 1.416, 1.190, PHS= 0.372,-1.410, 0.182, RAW= 144.4,  10.1, CAL= 144.0,  11.0, ROT=   6.0, -11.0

2025-09-20T00:07:15.646Z,1758326835.646 [DAT](INFO): got valid direction response:
 00:07:16.5745 LVL= 19808, 26801, 23282, 32755, AGC= 55, IDX= 501,-0.02, 1.460,-0.265, 1.416, 1.190, PHS= 0.372,-1.410, 0.182, RAW= 144.4,  10.1, CAL= 144.0,  11.0, ROT=   6.0, -11.0

2025-09-20T00:07:15.647Z,1758326835.647 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-09-20T00:07:15.654Z,1758326835.654 [DAT](INFO): direction in FSK: [0.976250,0.102608,0.190809]
2025-09-20T00:07:15.654Z,1758326835.654 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:15.662Z,1758326835.662 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.137657
2025-09-20T00:07:15.881Z,1758326835.881 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.356724
2025-09-20T00:07:16.001Z,1758326836.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.508604 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:16.003Z,1758326836.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.553415 m,
      bearing: 241.866850 deg,
      lat: 36.779398 deg,
      lon: -121.859731 deg,
      deltaT: 0.508604 s,
      deltaX: 0.000023 m,
      approachRate: 0.000045 m/s,
      posRepo size: 4

2025-09-20T00:07:16.008Z,1758326836.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.55 m.
2025-09-20T00:07:16.011Z,1758326836.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.553415 m,
      nav range: 17.093569 m,
      bearing: 242.777712 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.339397 deg/s,
      cmd heading: 232.169031 deg,
      new cmd heading: 231.849643 deg.

2025-09-20T00:07:16.016Z,1758326836.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.046540 target range: 17.553415 and range: 17.60 m.
2025-09-20T00:07:16.134Z,1758326836.134 [DAT](INFO): DAT read: Rx Time:00:07:17.0742 

2025-09-20T00:07:16.134Z,1758326836.134 [DAT](INFO): Rx dataTimestamp_ set to:1758326836.133832
2025-09-20T00:07:16.135Z,1758326836.135 [DAT](INFO): DAT read: Bearing  21.9,   5.0 (Local)

2025-09-20T00:07:16.136Z,1758326836.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.9,   5.0 (Local)

2025-09-20T00:07:16.139Z,1758326836.139 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.3

2025-09-20T00:07:16.145Z,1758326836.145 [DAT](INFO): DAT read: 00:07:17.0742 LVL= 18080, 27537, 21042, 31731, AGC= 54, IDX= 499,-0.28, 0.085,-1.613, 0.063,-0.175, PHS= 0.362,-1.393, 0.195, RAW= 145.0,  10.0, CAL= 144.6,  10.9, ROT=   5.4, -10.9

2025-09-20T00:07:16.147Z,1758326836.147 [DAT](INFO): got valid direction response:
 00:07:17.0742 LVL= 18080, 27537, 21042, 31731, AGC= 54, IDX= 499,-0.28, 0.085,-1.613, 0.063,-0.175, PHS= 0.362,-1.393, 0.195, RAW= 145.0,  10.0, CAL= 144.6,  10.9, ROT=   5.4, -10.9

2025-09-20T00:07:16.147Z,1758326836.147 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-09-20T00:07:16.169Z,1758326836.169 [DAT](INFO): direction in FSK: [0.977601,0.092410,0.189095]
2025-09-20T00:07:16.170Z,1758326836.170 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:16.179Z,1758326836.179 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.654541
2025-09-20T00:07:16.385Z,1758326836.385 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.860764
2025-09-20T00:07:16.510Z,1758326836.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.503467 s,
      deltaX: -0.500000 m,
      approachRate: -0.993114 m/s,
      rangeRepo size: 4

2025-09-20T00:07:16.512Z,1758326836.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.054739 m,
      bearing: 241.212302 deg,
      lat: 36.779397 deg,
      lon: -121.859731 deg,
      deltaT: 0.503467 s,
      deltaX: -0.498676 m,
      approachRate: -0.990485 m/s,
      posRepo size: 4

2025-09-20T00:07:16.516Z,1758326836.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.05 m.
2025-09-20T00:07:16.519Z,1758326836.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.054739 m,
      nav range: 16.846510 m,
      bearing: 242.487907 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.339397 deg/s,
      cmd heading: 231.849651 deg,
      new cmd heading: 231.504620 deg.

2025-09-20T00:07:16.524Z,1758326836.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.040518 target range: 17.054739 and range: 17.10 m.
2025-09-20T00:07:16.638Z,1758326836.638 [DAT](INFO): DAT read: Rx Time:00:07:17.5742 

2025-09-20T00:07:16.638Z,1758326836.638 [DAT](INFO): Rx dataTimestamp_ set to:1758326836.637803
2025-09-20T00:07:16.639Z,1758326836.639 [DAT](INFO): DAT read: Bearing  21.6,   3.6 (Local)

2025-09-20T00:07:16.640Z,1758326836.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.6,   3.6 (Local)

2025-09-20T00:07:16.642Z,1758326836.642 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.4

2025-09-20T00:07:16.647Z,1758326836.647 [DAT](INFO): DAT read: 00:07:17.5742 LVL= 16816, 25761, 20258, 30483, AGC= 54, IDX= 498, 0.39, 2.877, 1.149, 2.897, 2.624, PHS= 0.355,-1.430, 0.229, RAW= 146.4,   9.8, CAL= 146.0,  10.7, ROT=   4.0, -10.7

2025-09-20T00:07:16.648Z,1758326836.648 [DAT](INFO): got valid direction response:
 00:07:17.5742 LVL= 16816, 25761, 20258, 30483, AGC= 54, IDX= 498, 0.39, 2.877, 1.149, 2.897, 2.624, PHS= 0.355,-1.430, 0.229, RAW= 146.4,   9.8, CAL= 146.0,  10.7, ROT=   4.0, -10.7

2025-09-20T00:07:16.648Z,1758326836.648 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-09-20T00:07:16.649Z,1758326836.649 [DAT](INFO): direction in FSK: [0.980219,0.068544,0.185667]
2025-09-20T00:07:16.649Z,1758326836.649 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:16.665Z,1758326836.665 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.140854
2025-09-20T00:07:16.864Z,1758326836.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.503971 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:16.866Z,1758326836.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.054712 m,
      bearing: 239.752674 deg,
      lat: 36.779395 deg,
      lon: -121.859730 deg,
      deltaT: 0.503971 s,
      deltaX: -0.000027 m,
      approachRate: -0.000053 m/s,
      posRepo size: 4

2025-09-20T00:07:16.867Z,1758326836.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.05 m.
2025-09-20T00:07:16.878Z,1758326836.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.054712 m,
      nav range: 16.702473 m,
      bearing: 241.333277 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.339397 deg/s,
      cmd heading: 231.504617 deg,
      new cmd heading: 231.264228 deg.

2025-09-20T00:07:16.879Z,1758326836.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036322 target range: 17.054712 and range: 17.10 m.
2025-09-20T00:07:16.889Z,1758326836.889 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.364895
2025-09-20T00:07:17.142Z,1758326837.142 [DAT](INFO): DAT read: Rx Time:00:07:18.0740 

2025-09-20T00:07:17.142Z,1758326837.142 [DAT](INFO): Rx dataTimestamp_ set to:1758326837.141704
2025-09-20T00:07:17.143Z,1758326837.143 [DAT](INFO): DAT read: Bearing  21.3,   3.0 (Local)

2025-09-20T00:07:17.144Z,1758326837.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.3,   3.0 (Local)

2025-09-20T00:07:17.146Z,1758326837.146 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.3

2025-09-20T00:07:17.161Z,1758326837.161 [DAT](INFO): DAT read: 00:07:18.0740 LVL= 17968, 29937, 20706, 29523, AGC= 54, IDX= 496, 0.22, 1.724, 0.016, 1.762, 1.477, PHS= 0.349,-1.417, 0.240, RAW= 146.9,   9.7, CAL= 146.5,  10.6, ROT=   3.5, -10.6

2025-09-20T00:07:17.162Z,1758326837.162 [DAT](INFO): got valid direction response:
 00:07:18.0740 LVL= 17968, 29937, 20706, 29523, AGC= 54, IDX= 496, 0.22, 1.724, 0.016, 1.762, 1.477, PHS= 0.349,-1.417, 0.240, RAW= 146.9,   9.7, CAL= 146.5,  10.6, ROT=   3.5, -10.6

2025-09-20T00:07:17.163Z,1758326837.163 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-09-20T00:07:17.168Z,1758326837.168 [DAT](INFO): direction in FSK: [0.981102,0.060007,0.183951]
2025-09-20T00:07:17.168Z,1758326837.168 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:17.181Z,1758326837.181 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.656620
2025-09-20T00:07:17.339Z,1758326837.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503901 s,
      deltaX: -0.300001 m,
      approachRate: -0.595357 m/s,
      rangeRepo size: 4

2025-09-20T00:07:17.346Z,1758326837.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.755505 m,
      bearing: 239.194945 deg,
      lat: 36.779395 deg,
      lon: -121.859728 deg,
      deltaT: 0.503901 s,
      deltaX: -0.299208 m,
      approachRate: -0.593783 m/s,
      posRepo size: 4

2025-09-20T00:07:17.346Z,1758326837.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.76 m.
2025-09-20T00:07:17.353Z,1758326837.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.755505 m,
      nav range: 16.382555 m,
      bearing: 240.975529 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.339397 deg/s,
      cmd heading: 231.264222 deg,
      new cmd heading: 230.941821 deg.

2025-09-20T00:07:17.354Z,1758326837.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.030695 target range: 16.755505 and range: 16.80 m.
2025-09-20T00:07:17.394Z,1758326837.394 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.869095
2025-09-20T00:07:17.642Z,1758326837.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:17.646Z,1758326837.646 [DAT](INFO): DAT read: Rx Time:00:07:18.5740 

2025-09-20T00:07:17.646Z,1758326837.646 [DAT](INFO): Rx dataTimestamp_ set to:1758326837.645817
2025-09-20T00:07:17.647Z,1758326837.647 [DAT](INFO): DAT read: Bearing  31.8,  -0.7 (Local)

2025-09-20T00:07:17.648Z,1758326837.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.8,  -0.7 (Local)

2025-09-20T00:07:17.650Z,1758326837.650 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.3

2025-09-20T00:07:17.655Z,1758326837.655 [DAT](INFO): DAT read: 00:07:18.5740 LVL= 18912, 27121, 22898, 32755, AGC= 56, IDX= 512, 0.12, 2.702, 1.141, 2.815, 2.759, PHS= 0.046,-1.573, 0.013, RAW= 149.0,  18.5, CAL= 149.8,  21.3, ROT=   0.2, -21.3

2025-09-20T00:07:17.656Z,1758326837.656 [DAT](INFO): got valid direction response:
 00:07:18.5740 LVL= 18912, 27121, 22898, 32755, AGC= 56, IDX= 512, 0.12, 2.702, 1.141, 2.815, 2.759, PHS= 0.046,-1.573, 0.013, RAW= 149.0,  18.5, CAL= 149.8,  21.3, ROT=   0.2, -21.3

2025-09-20T00:07:17.657Z,1758326837.657 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-09-20T00:07:17.658Z,1758326837.658 [DAT](INFO): direction in FSK: [0.931686,0.003252,0.363251]
2025-09-20T00:07:17.658Z,1758326837.658 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:17.662Z,1758326837.662 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.138126
2025-09-20T00:07:17.663Z,1758326837.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.76 m.
2025-09-20T00:07:17.686Z,1758326837.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.755505 m,
      nav range: 16.243044 m,
      bearing: 240.894351 deg,
      approach rate: -0.455932 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 230.941810 deg,
      new cmd heading: 230.778060 deg.

2025-09-20T00:07:17.687Z,1758326837.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.027837 target range: 16.755505 and range: 16.80 m.
2025-09-20T00:07:17.897Z,1758326837.897 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.372757
2025-09-20T00:07:18.069Z,1758326838.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.504113 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:18.071Z,1758326838.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.755516 m,
      bearing: 236.130943 deg,
      lat: 36.779391 deg,
      lon: -121.859728 deg,
      deltaT: 0.504113 s,
      deltaX: 0.000011 m,
      approachRate: 0.000023 m/s,
      posRepo size: 4

2025-09-20T00:07:18.071Z,1758326838.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.76 m.
2025-09-20T00:07:18.075Z,1758326838.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.755516 m,
      nav range: 16.252432 m,
      bearing: 239.415630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 230.778049 deg,
      new cmd heading: 230.551866 deg.

2025-09-20T00:07:18.076Z,1758326838.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.023889 target range: 16.755516 and range: 16.80 m.
2025-09-20T00:07:18.150Z,1758326838.150 [DAT](INFO): DAT read: Rx Time:00:07:19.0738 

2025-09-20T00:07:18.150Z,1758326838.150 [DAT](INFO): Rx dataTimestamp_ set to:1758326838.149772
2025-09-20T00:07:18.151Z,1758326838.151 [DAT](INFO): DAT read: Bearing  21.3,   3.1 (Local)

2025-09-20T00:07:18.152Z,1758326838.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.3,   3.1 (Local)

2025-09-20T00:07:18.154Z,1758326838.154 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.3

2025-09-20T00:07:18.158Z,1758326838.158 [DAT](INFO): DAT read: 00:07:19.0738 LVL= 18304, 28065, 21794, 30963, AGC= 54, IDX= 510, 0.02, 0.226,-1.443, 0.262,-0.009, PHS= 0.337,-1.389, 0.227, RAW= 146.7,   9.9, CAL= 146.3,  10.8, ROT=   3.7, -10.8

2025-09-20T00:07:18.159Z,1758326838.159 [DAT](INFO): got valid direction response:
 00:07:19.0738 LVL= 18304, 28065, 21794, 30963, AGC= 54, IDX= 510, 0.02, 0.226,-1.443, 0.262,-0.009, PHS= 0.337,-1.389, 0.227, RAW= 146.7,   9.9, CAL= 146.3,  10.8, ROT=   3.7, -10.8

2025-09-20T00:07:18.160Z,1758326838.160 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-09-20T00:07:18.161Z,1758326838.161 [DAT](INFO): direction in FSK: [0.980240,0.063389,0.187381]
2025-09-20T00:07:18.161Z,1758326838.161 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:18.178Z,1758326838.178 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.653553
2025-09-20T00:07:18.401Z,1758326838.401 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.876907
2025-09-20T00:07:18.521Z,1758326838.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.503955 s,
      deltaX: -0.299999 m,
      approachRate: -0.595290 m/s,
      rangeRepo size: 4

2025-09-20T00:07:18.523Z,1758326838.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.456312 m,
      bearing: 239.212218 deg,
      lat: 36.779390 deg,
      lon: -121.859728 deg,
      deltaT: 0.503955 s,
      deltaX: -0.299204 m,
      approachRate: -0.593711 m/s,
      posRepo size: 4

2025-09-20T00:07:18.523Z,1758326838.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.46 m.
2025-09-20T00:07:18.526Z,1758326838.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.456312 m,
      nav range: 16.097645 m,
      bearing: 239.108859 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 230.551861 deg,
      new cmd heading: 230.309376 deg.

2025-09-20T00:07:18.527Z,1758326838.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.019657 target range: 16.456312 and range: 16.50 m.
2025-09-20T00:07:18.654Z,1758326838.654 [DAT](INFO): DAT read: Rx Time:00:07:19.5737 

2025-09-20T00:07:18.654Z,1758326838.654 [DAT](INFO): Rx dataTimestamp_ set to:1758326838.653866
2025-09-20T00:07:18.655Z,1758326838.655 [DAT](INFO): DAT read: Bearing  21.5,   3.3 (Local)

2025-09-20T00:07:18.656Z,1758326838.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.5,   3.3 (Local)

2025-09-20T00:07:18.658Z,1758326838.658 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.3

2025-09-20T00:07:18.663Z,1758326838.663 [DAT](INFO): DAT read: 00:07:19.5737 LVL= 18016, 25697, 21922, 30963, AGC= 54, IDX= 509,-0.11,-0.785,-2.429,-0.755,-1.009, PHS= 0.326,-1.376, 0.209, RAW= 146.5,  10.2, CAL= 146.1,  11.2, ROT=   3.9, -11.2

2025-09-20T00:07:18.665Z,1758326838.665 [DAT](INFO): got valid direction response:
 00:07:19.5737 LVL= 18016, 25697, 21922, 30963, AGC= 54, IDX= 509,-0.11,-0.785,-2.429,-0.755,-1.009, PHS= 0.326,-1.376, 0.209, RAW= 146.5,  10.2, CAL= 146.1,  11.2, ROT=   3.9, -11.2

2025-09-20T00:07:18.665Z,1758326838.665 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-09-20T00:07:18.666Z,1758326838.666 [DAT](INFO): direction in FSK: [0.978684,0.066720,0.194234]
2025-09-20T00:07:18.666Z,1758326838.666 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:18.670Z,1758326838.670 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.145668
2025-09-20T00:07:18.898Z,1758326838.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.504094 s,
      deltaX: -0.100000 m,
      approachRate: -0.198376 m/s,
      rangeRepo size: 4

2025-09-20T00:07:18.905Z,1758326838.905 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.380741
2025-09-20T00:07:18.906Z,1758326838.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.356588 m,
      bearing: 239.351540 deg,
      lat: 36.779390 deg,
      lon: -121.859728 deg,
      deltaT: 0.504094 s,
      deltaX: -0.099724 m,
      approachRate: -0.197828 m/s,
      posRepo size: 4

2025-09-20T00:07:18.907Z,1758326838.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.36 m.
2025-09-20T00:07:18.914Z,1758326838.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.356588 m,
      nav range: 15.949177 m,
      bearing: 239.007740 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 230.309389 deg,
      new cmd heading: 230.107500 deg.

2025-09-20T00:07:18.915Z,1758326838.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.016133 target range: 16.356588 and range: 16.40 m.
2025-09-20T00:07:19.163Z,1758326839.163 [DAT](INFO): DAT read: Rx Time:00:07:20.0734 

2025-09-20T00:07:19.164Z,1758326839.164 [DAT](INFO): Rx dataTimestamp_ set to:1758326839.163304
2025-09-20T00:07:19.165Z,1758326839.165 [DAT](INFO): DAT read: Bearing  21.4,   2.8 (Local)

2025-09-20T00:07:19.165Z,1758326839.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.4,   2.8 (Local)

2025-09-20T00:07:19.167Z,1758326839.167 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.3

2025-09-20T00:07:19.174Z,1758326839.174 [DAT](INFO): DAT read: 00:07:20.0734 LVL= 18992, 26801, 22098, 32179, AGC= 54, IDX= 507,-0.34,-1.141,-2.794,-1.096,-1.360, PHS= 0.320,-1.389, 0.220, RAW= 147.0,  10.2, CAL= 146.6,  11.2, ROT=   3.4, -11.2

2025-09-20T00:07:19.175Z,1758326839.175 [DAT](INFO): got valid direction response:
 00:07:20.0734 LVL= 18992, 26801, 22098, 32179, AGC= 54, IDX= 507,-0.34,-1.141,-2.794,-1.096,-1.360, PHS= 0.320,-1.389, 0.220, RAW= 147.0,  10.2, CAL= 146.6,  11.2, ROT=   3.4, -11.2

2025-09-20T00:07:19.182Z,1758326839.182 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-09-20T00:07:19.189Z,1758326839.189 [DAT](INFO): direction in FSK: [0.979229,0.058177,0.194234]
2025-09-20T00:07:19.189Z,1758326839.189 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:19.200Z,1758326839.200 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.675606
2025-09-20T00:07:19.413Z,1758326839.413 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.888767
2025-09-20T00:07:19.415Z,1758326839.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.509438 s,
      deltaX: -0.500000 m,
      approachRate: -0.981474 m/s,
      rangeRepo size: 4

2025-09-20T00:07:19.422Z,1758326839.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.857913 m,
      bearing: 238.852233 deg,
      lat: 36.779390 deg,
      lon: -121.859726 deg,
      deltaT: 0.509438 s,
      deltaX: -0.498675 m,
      approachRate: -0.978873 m/s,
      posRepo size: 4

2025-09-20T00:07:19.422Z,1758326839.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.86 m.
2025-09-20T00:07:19.453Z,1758326839.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.857913 m,
      nav range: 15.621467 m,
      bearing: 238.601931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 230.107489 deg,
      new cmd heading: 229.830527 deg.

2025-09-20T00:07:19.462Z,1758326839.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.011300 target range: 15.857913 and range: 15.90 m.
2025-09-20T00:07:19.666Z,1758326839.666 [DAT](INFO): DAT read: Rx Time:00:07:20.5734 

2025-09-20T00:07:19.666Z,1758326839.666 [DAT](INFO): Rx dataTimestamp_ set to:1758326839.665886
2025-09-20T00:07:19.667Z,1758326839.667 [DAT](INFO): DAT read: Bearing  20.8,   1.8 (Local)

2025-09-20T00:07:19.673Z,1758326839.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.8,   1.8 (Local)

2025-09-20T00:07:19.675Z,1758326839.675 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.3

2025-09-20T00:07:19.679Z,1758326839.679 [DAT](INFO): DAT read: 00:07:20.5734 LVL= 18912, 26401, 22242, 32755, AGC= 54, IDX= 506, 0.35, 2.203, 0.510, 2.279, 1.981, PHS= 0.324,-1.426, 0.254, RAW= 148.0,   9.9, CAL= 147.6,  10.8, ROT=   2.4, -10.8

2025-09-20T00:07:19.689Z,1758326839.689 [DAT](INFO): got valid direction response:
 00:07:20.5734 LVL= 18912, 26401, 22242, 32755, AGC= 54, IDX= 506, 0.35, 2.203, 0.510, 2.279, 1.981, PHS= 0.324,-1.426, 0.254, RAW= 148.0,   9.9, CAL= 147.6,  10.8, ROT=   2.4, -10.8

2025-09-20T00:07:19.689Z,1758326839.689 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-09-20T00:07:19.690Z,1758326839.690 [DAT](INFO): direction in FSK: [0.981426,0.041134,0.187381]
2025-09-20T00:07:19.690Z,1758326839.690 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:19.710Z,1758326839.710 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.185947
2025-09-20T00:07:19.881Z,1758326839.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.502582 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:19.883Z,1758326839.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.857911 m,
      bearing: 237.688657 deg,
      lat: 36.779390 deg,
      lon: -121.859726 deg,
      deltaT: 0.502582 s,
      deltaX: -0.000002 m,
      approachRate: -0.000004 m/s,
      posRepo size: 4

2025-09-20T00:07:19.884Z,1758326839.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.86 m.
2025-09-20T00:07:19.887Z,1758326839.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.857911 m,
      nav range: 15.455220 m,
      bearing: 238.475436 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 229.830538 deg,
      new cmd heading: 229.581104 deg.

2025-09-20T00:07:19.896Z,1758326839.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006946 target range: 15.857911 and range: 15.90 m.
2025-09-20T00:07:19.917Z,1758326839.917 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.392845
2025-09-20T00:07:20.175Z,1758326840.175 [DAT](INFO): DAT read: Rx Time:00:07:21.0732 

2025-09-20T00:07:20.176Z,1758326840.176 [DAT](INFO): Rx dataTimestamp_ set to:1758326840.175379
2025-09-20T00:07:20.177Z,1758326840.177 [DAT](INFO): DAT read: Bearing  20.8,   1.5 (Local)

2025-09-20T00:07:20.178Z,1758326840.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.8,   1.5 (Local)

2025-09-20T00:07:20.182Z,1758326840.182 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.3

2025-09-20T00:07:20.187Z,1758326840.187 [DAT](INFO): DAT read: 00:07:21.0732 LVL= 19296, 27601, 21106, 30611, AGC= 54, IDX= 504, 0.13, 0.910,-0.778, 0.995, 0.696, PHS= 0.316,-1.429, 0.255, RAW= 148.2,  10.0, CAL= 147.9,  10.9, ROT=   2.1, -10.9

2025-09-20T00:07:20.193Z,1758326840.193 [DAT](INFO): got valid direction response:
 00:07:21.0732 LVL= 19296, 27601, 21106, 30611, AGC= 54, IDX= 504, 0.13, 0.910,-0.778, 0.995, 0.696, PHS= 0.316,-1.429, 0.255, RAW= 148.2,  10.0, CAL= 147.9,  10.9, ROT=   2.1, -10.9

2025-09-20T00:07:20.193Z,1758326840.193 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-09-20T00:07:20.194Z,1758326840.194 [DAT](INFO): direction in FSK: [0.981299,0.035983,0.189095]
2025-09-20T00:07:20.194Z,1758326840.194 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:20.232Z,1758326840.232 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.679455
2025-09-20T00:07:20.384Z,1758326840.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.509493 s,
      deltaX: -0.299999 m,
      approachRate: -0.588819 m/s,
      rangeRepo size: 4

2025-09-20T00:07:20.386Z,1758326840.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.558706 m,
      bearing: 237.296839 deg,
      lat: 36.779390 deg,
      lon: -121.859726 deg,
      deltaT: 0.509493 s,
      deltaX: -0.299205 m,
      approachRate: -0.587260 m/s,
      posRepo size: 4

2025-09-20T00:07:20.387Z,1758326840.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-09-20T00:07:20.394Z,1758326840.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.558706 m,
      nav range: 15.246325 m,
      bearing: 238.359642 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 229.581100 deg,
      new cmd heading: 229.314305 deg.

2025-09-20T00:07:20.395Z,1758326840.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.002290 target range: 15.558706 and range: 15.60 m.
2025-09-20T00:07:20.421Z,1758326840.421 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.897057
2025-09-20T00:07:20.673Z,1758326840.673 [DAT](INFO): DAT read: Rx Time:00:07:21.5732 

2025-09-20T00:07:20.674Z,1758326840.674 [DAT](INFO): Rx dataTimestamp_ set to:1758326840.673670
2025-09-20T00:07:20.675Z,1758326840.675 [DAT](INFO): DAT read: Bearing  21.2,   1.2 (Local)

2025-09-20T00:07:20.676Z,1758326840.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.2,   1.2 (Local)

2025-09-20T00:07:20.678Z,1758326840.678 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.4

2025-09-20T00:07:20.682Z,1758326840.682 [DAT](INFO): DAT read: 00:07:21.5732 LVL= 18064, 25745, 21682, 30595, AGC= 54, IDX= 504,-0.04, 1.087,-0.604, 1.178, 0.890, PHS= 0.299,-1.449, 0.245, RAW= 148.4,  10.5, CAL= 148.1,  11.5, ROT=   1.9, -11.5

2025-09-20T00:07:20.683Z,1758326840.683 [DAT](INFO): got valid direction response:
 00:07:21.5732 LVL= 18064, 25745, 21682, 30595, AGC= 54, IDX= 504,-0.04, 1.087,-0.604, 1.178, 0.890, PHS= 0.299,-1.449, 0.245, RAW= 148.4,  10.5, CAL= 148.1,  11.5, ROT=   1.9, -11.5

2025-09-20T00:07:20.684Z,1758326840.684 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-09-20T00:07:20.685Z,1758326840.685 [DAT](INFO): direction in FSK: [0.979386,0.032490,0.199368]
2025-09-20T00:07:20.685Z,1758326840.685 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:20.689Z,1758326840.689 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.164940
2025-09-20T00:07:20.820Z,1758326840.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.498291 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:20.822Z,1758326840.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.558706 m,
      bearing: 237.026220 deg,
      lat: 36.779388 deg,
      lon: -121.859726 deg,
      deltaT: 0.498291 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:20.823Z,1758326840.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-09-20T00:07:20.834Z,1758326840.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.558706 m,
      nav range: 15.187358 m,
      bearing: 237.435091 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 229.314312 deg,
      new cmd heading: 229.081001 deg.

2025-09-20T00:07:20.835Z,1758326840.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.998218 target range: 15.558706 and range: 15.60 m.
2025-09-20T00:07:20.925Z,1758326840.925 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.400810
2025-09-20T00:07:21.177Z,1758326841.177 [DAT](INFO): DAT read: Rx Time:00:07:22.0730 

2025-09-20T00:07:21.178Z,1758326841.178 [DAT](INFO): Rx dataTimestamp_ set to:1758326841.177541
2025-09-20T00:07:21.179Z,1758326841.179 [DAT](INFO): DAT read: Bearing  21.2,   1.2 (Local)

2025-09-20T00:07:21.179Z,1758326841.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.2,   1.2 (Local)

2025-09-20T00:07:21.182Z,1758326841.182 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.4

2025-09-20T00:07:21.186Z,1758326841.186 [DAT](INFO): DAT read: 00:07:22.0730 LVL= 17696, 28305, 19842, 28723, AGC= 53, IDX= 502,-0.24,-0.537,-2.215,-0.444,-0.727, PHS= 0.292,-1.443, 0.239, RAW= 148.4,  10.7, CAL= 148.2,  11.7, ROT=   1.8, -11.7

2025-09-20T00:07:21.187Z,1758326841.187 [DAT](INFO): got valid direction response:
 00:07:22.0730 LVL= 17696, 28305, 19842, 28723, AGC= 53, IDX= 502,-0.24,-0.537,-2.215,-0.444,-0.727, PHS= 0.292,-1.443, 0.239, RAW= 148.4,  10.7, CAL= 148.2,  11.7, ROT=   1.8, -11.7

2025-09-20T00:07:21.187Z,1758326841.187 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-09-20T00:07:21.188Z,1758326841.188 [DAT](INFO): direction in FSK: [0.978740,0.030758,0.202787]
2025-09-20T00:07:21.189Z,1758326841.189 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:21.192Z,1758326841.192 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.668152
2025-09-20T00:07:21.343Z,1758326841.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503871 s,
      deltaX: -0.300000 m,
      approachRate: -0.595391 m/s,
      rangeRepo size: 4

2025-09-20T00:07:21.349Z,1758326841.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.259514 m,
      bearing: 236.801951 deg,
      lat: 36.779388 deg,
      lon: -121.859726 deg,
      deltaT: 0.503871 s,
      deltaX: -0.299192 m,
      approachRate: -0.593788 m/s,
      posRepo size: 4

2025-09-20T00:07:21.350Z,1758326841.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.26 m.
2025-09-20T00:07:21.357Z,1758326841.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.259514 m,
      nav range: 14.952913 m,
      bearing: 237.187055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 229.081007 deg,
      new cmd heading: 228.799028 deg.

2025-09-20T00:07:21.358Z,1758326841.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.993296 target range: 15.259514 and range: 15.30 m.
2025-09-20T00:07:21.432Z,1758326841.432 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.907547
2025-09-20T00:07:21.682Z,1758326841.682 [DAT](INFO): DAT read: Rx Time:00:07:22.5729 

2025-09-20T00:07:21.682Z,1758326841.682 [DAT](INFO): Rx dataTimestamp_ set to:1758326841.681785
2025-09-20T00:07:21.683Z,1758326841.683 [DAT](INFO): DAT read: Bearing  20.4,   0.2 (Local)

2025-09-20T00:07:21.684Z,1758326841.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.4,   0.2 (Local)

2025-09-20T00:07:21.686Z,1758326841.686 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.4

2025-09-20T00:07:21.690Z,1758326841.690 [DAT](INFO): DAT read: 00:07:22.5729 LVL= 19568, 26465, 22850, 29459, AGC= 53, IDX= 501, 0.42, 2.869, 1.158, 2.998, 2.674, PHS= 0.297,-1.472, 0.280, RAW= 149.5,  10.2, CAL= 149.2,  11.1, ROT=   0.8, -11.1

2025-09-20T00:07:21.692Z,1758326841.692 [DAT](INFO): got valid direction response:
 00:07:22.5729 LVL= 19568, 26465, 22850, 29459, AGC= 53, IDX= 501, 0.42, 2.869, 1.158, 2.998, 2.674, PHS= 0.297,-1.472, 0.280, RAW= 149.5,  10.2, CAL= 149.2,  11.1, ROT=   0.8, -11.1

2025-09-20T00:07:21.692Z,1758326841.692 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-09-20T00:07:21.693Z,1758326841.693 [DAT](INFO): direction in FSK: [0.981197,0.013701,0.192522]
2025-09-20T00:07:21.693Z,1758326841.693 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:21.701Z,1758326841.701 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.176937
2025-09-20T00:07:21.733Z,1758326841.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504244 s,
      deltaX: -0.100000 m,
      approachRate: -0.198317 m/s,
      rangeRepo size: 4

2025-09-20T00:07:21.749Z,1758326841.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.159779 m,
      bearing: 235.629609 deg,
      lat: 36.779387 deg,
      lon: -121.859725 deg,
      deltaT: 0.504244 s,
      deltaX: -0.099735 m,
      approachRate: -0.197792 m/s,
      posRepo size: 4

2025-09-20T00:07:21.751Z,1758326841.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.16 m.
2025-09-20T00:07:21.763Z,1758326841.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.159779 m,
      nav range: 14.805906 m,
      bearing: 236.697316 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.267574 deg/s,
      cmd heading: 228.799029 deg,
      new cmd heading: 228.595283 deg.

2025-09-20T00:07:21.769Z,1758326841.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.989740 target range: 15.159779 and range: 15.20 m.
2025-09-20T00:07:21.937Z,1758326841.937 [DAT](INFO): DAT read: Rx Time:00:07:23.0727 

2025-09-20T00:07:21.939Z,1758326841.939 [DAT](INFO): Rx dataTimestamp_ set to:1758326841.938001
2025-09-20T00:07:21.944Z,1758326841.944 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.419334
2025-09-20T00:07:22.117Z,1758326842.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:22.119Z,1758326842.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.16 m.
2025-09-20T00:07:22.133Z,1758326842.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.159779 m,
      nav range: 14.637460 m,
      bearing: 236.576279 deg,
      approach rate: -0.425287 m/s,
      LOS rate: -0.309107 deg/s,
      cmd heading: 228.595285 deg,
      new cmd heading: 228.350426 deg.

2025-09-20T00:07:22.134Z,1758326842.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.985467 target range: 15.159779 and range: 15.20 m.
2025-09-20T00:07:22.190Z,1758326842.190 [DAT](INFO): DAT read: Bearing  20.2,  -0.1 (Local)

2025-09-20T00:07:22.191Z,1758326842.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.2,  -0.1 (Local)

2025-09-20T00:07:22.198Z,1758326842.198 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.4

2025-09-20T00:07:22.217Z,1758326842.217 [DAT](INFO): DAT read: 00:07:23.0727 LVL= 19344, 26385, 22386, 29635, AGC= 53, IDX= 499, 0.16, 1.703,-0.012, 1.840, 1.512, PHS= 0.293,-1.479, 0.284, RAW= 149.7,  10.2, CAL= 149.4,  11.2, ROT=   0.6, -11.2

2025-09-20T00:07:22.218Z,1758326842.218 [DAT](INFO): got valid direction response:
 00:07:23.0727 LVL= 19344, 26385, 22386, 29635, AGC= 53, IDX= 499, 0.16, 1.703,-0.012, 1.840, 1.512, PHS= 0.293,-1.479, 0.284, RAW= 149.7,  10.2, CAL= 149.4,  11.2, ROT=   0.6, -11.2

2025-09-20T00:07:22.219Z,1758326842.219 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-09-20T00:07:22.229Z,1758326842.229 [DAT](INFO): direction in FSK: [0.980901,0.010272,0.194234]
2025-09-20T00:07:22.230Z,1758326842.230 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:22.247Z,1758326842.247 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.722263
2025-09-20T00:07:22.441Z,1758326842.441 [DAT](INFO): DAT read: Rx Time:00:07:23.5726 

2025-09-20T00:07:22.443Z,1758326842.443 [DAT](INFO): Rx dataTimestamp_ set to:1758326842.441717
2025-09-20T00:07:22.446Z,1758326842.446 [DAT](INFO): DAT read: Bearing  20.4,   0.1 (Local)

2025-09-20T00:07:22.447Z,1758326842.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.4,   0.1 (Local)

2025-09-20T00:07:22.452Z,1758326842.452 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.927105
2025-09-20T00:07:22.605Z,1758326842.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504147 s,
      deltaX: -0.300000 m,
      approachRate: -0.595065 m/s,
      rangeRepo size: 4

2025-09-20T00:07:22.607Z,1758326842.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.860562 m,
      bearing: 235.305891 deg,
      lat: 36.779387 deg,
      lon: -121.859725 deg,
      deltaT: 0.504147 s,
      deltaX: -0.299216 m,
      approachRate: -0.593510 m/s,
      posRepo size: 4

2025-09-20T00:07:22.612Z,1758326842.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.86 m.
2025-09-20T00:07:22.615Z,1758326842.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.860562 m,
      nav range: 14.450291 m,
      bearing: 236.260883 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.309107 deg/s,
      cmd heading: 228.350422 deg,
      new cmd heading: 228.053808 deg.

2025-09-20T00:07:22.621Z,1758326842.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.980290 target range: 14.860562 and range: 14.90 m.
2025-09-20T00:07:22.692Z,1758326842.692 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.4

2025-09-20T00:07:22.699Z,1758326842.699 [DAT](INFO): DAT read: 00:07:23.5726 LVL= 18256, 28657, 20626, 28259, AGC= 52, IDX= 498,-0.02, 0.254,-1.437, 0.384, 0.075, PHS= 0.281,-1.466, 0.265, RAW= 149.5,  10.6, CAL= 149.3,  11.6, ROT=   0.7, -11.6

2025-09-20T00:07:22.701Z,1758326842.701 [DAT](INFO): got valid direction response:
 00:07:23.5726 LVL= 18256, 28657, 20626, 28259, AGC= 52, IDX= 498,-0.02, 0.254,-1.437, 0.384, 0.075, PHS= 0.281,-1.466, 0.265, RAW= 149.5,  10.6, CAL= 149.3,  11.6, ROT=   0.7, -11.6

2025-09-20T00:07:22.701Z,1758326842.701 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-09-20T00:07:22.703Z,1758326842.703 [DAT](INFO): direction in FSK: [0.979502,0.011967,0.201078]
2025-09-20T00:07:22.703Z,1758326842.703 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:22.707Z,1758326842.707 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.182526
2025-09-20T00:07:22.945Z,1758326842.945 [DAT](INFO): DAT read: Rx Time:00:07:24.0724 

2025-09-20T00:07:22.947Z,1758326842.947 [DAT](INFO): Rx dataTimestamp_ set to:1758326842.945411
2025-09-20T00:07:22.950Z,1758326842.950 [DAT](INFO): DAT read: Bearing  20.4,   0.5 (Local)

2025-09-20T00:07:22.952Z,1758326842.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.4,   0.5 (Local)

2025-09-20T00:07:22.964Z,1758326842.964 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.4

2025-09-20T00:07:22.967Z,1758326842.967 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-09-20T00:07:22.997Z,1758326842.997 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.472870
2025-09-20T00:07:23.089Z,1758326843.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.759479 s,
      deltaX: -0.500000 m,
      approachRate: -0.658346 m/s,
      rangeRepo size: 4

2025-09-20T00:07:23.091Z,1758326843.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.361890 m,
      bearing: 235.012775 deg,
      lat: 36.779386 deg,
      lon: -121.859725 deg,
      deltaT: 0.759479 s,
      deltaX: -0.498672 m,
      approachRate: -0.656598 m/s,
      posRepo size: 4

2025-09-20T00:07:23.091Z,1758326843.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-09-20T00:07:23.098Z,1758326843.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361890 m,
      nav range: 14.302515 m,
      bearing: 235.651334 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.309107 deg/s,
      cmd heading: 228.053801 deg,
      new cmd heading: 227.754016 deg.

2025-09-20T00:07:23.099Z,1758326843.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.975057 target range: 14.361890 and range: 14.40 m.
2025-09-20T00:07:23.206Z,1758326843.206 [DAT](INFO): DAT read: 00:07:24.0724 LVL= 19360, 30385, 22258, 31875, AGC= 52, IDX= 496,-0.23,-1.742, 2.885,-1.625,-1.916, PHS= 0.276,-1.437, 0.247, RAW= 149.2,  10.8, CAL= 148.9,  11.8, ROT=   1.1, -11.8

2025-09-20T00:07:23.207Z,1758326843.207 [DAT](INFO): got valid direction response:
 00:07:24.0724 LVL= 19360, 30385, 22258, 31875, AGC= 52, IDX= 496,-0.23,-1.742, 2.885,-1.625,-1.916, PHS= 0.276,-1.437, 0.247, RAW= 149.2,  10.8, CAL= 148.9,  11.8, ROT=   1.1, -11.8

2025-09-20T00:07:23.207Z,1758326843.207 [DAT](INFO): #Rx 106: Read direction message, but no range.
2025-09-20T00:07:23.209Z,1758326843.209 [DAT](INFO): direction in FSK: [0.978687,0.018792,0.204496]
2025-09-20T00:07:23.212Z,1758326843.212 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.688225
2025-09-20T00:07:23.458Z,1758326843.458 [DAT](INFO): DAT read: Rx Time:00:07:24.5723 

2025-09-20T00:07:23.459Z,1758326843.459 [DAT](INFO): Rx dataTimestamp_ set to:1758326843.458308
2025-09-20T00:07:23.463Z,1758326843.463 [DAT](INFO): DAT read: Bearing  19.6,  -0.5 (Local)

2025-09-20T00:07:23.469Z,1758326843.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.6,  -0.5 (Local)

2025-09-20T00:07:23.525Z,1758326843.525 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.3

2025-09-20T00:07:23.538Z,1758326843.538 [DAT](INFO): DAT read: 00:07:24.5723 LVL= 20752, 28305, 21698, 28371, AGC= 52, IDX= 511, 0.42, 1.457,-0.247, 1.612, 1.277, PHS= 0.282,-1.479, 0.290, RAW= 150.3,  10.3, CAL= 150.0,  11.3, ROT=   0.0, -11.3

2025-09-20T00:07:23.539Z,1758326843.539 [DAT](INFO): got valid direction response:
 00:07:24.5723 LVL= 20752, 28305, 21698, 28371, AGC= 52, IDX= 511, 0.42, 1.457,-0.247, 1.612, 1.277, PHS= 0.282,-1.479, 0.290, RAW= 150.3,  10.3, CAL= 150.0,  11.3, ROT=   0.0, -11.3

2025-09-20T00:07:23.539Z,1758326843.539 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-09-20T00:07:23.548Z,1758326843.548 [DAT](INFO): direction in FSK: [0.980615,0.000000,0.195946]
2025-09-20T00:07:23.549Z,1758326843.549 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:23.564Z,1758326843.564 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.040150
2025-09-20T00:07:23.697Z,1758326843.697 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.172863
2025-09-20T00:07:23.698Z,1758326843.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.512897 s,
      deltaX: -0.099999 m,
      approachRate: -0.194970 m/s,
      rangeRepo size: 4

2025-09-20T00:07:23.705Z,1758326843.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.262156 m,
      bearing: 234.151757 deg,
      lat: 36.779385 deg,
      lon: -121.859724 deg,
      deltaT: 0.512897 s,
      deltaX: -0.099734 m,
      approachRate: -0.194453 m/s,
      posRepo size: 4

2025-09-20T00:07:23.705Z,1758326843.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.26 m.
2025-09-20T00:07:23.713Z,1758326843.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.262156 m,
      nav range: 14.075882 m,
      bearing: 234.888011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.309107 deg/s,
      cmd heading: 227.754010 deg,
      new cmd heading: 227.380365 deg.

2025-09-20T00:07:23.714Z,1758326843.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.968536 target range: 14.262156 and range: 14.30 m.
2025-09-20T00:07:23.953Z,1758326843.953 [DAT](INFO): DAT read: Rx Time:00:07:25.0721 

2025-09-20T00:07:23.955Z,1758326843.955 [DAT](INFO): Rx dataTimestamp_ set to:1758326843.953863
2025-09-20T00:07:23.958Z,1758326843.958 [DAT](INFO): DAT read: Bearing  19.6,  -0.8 (Local)

2025-09-20T00:07:23.959Z,1758326843.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.6,  -0.8 (Local)

2025-09-20T00:07:23.964Z,1758326843.964 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.3

2025-09-20T00:07:23.967Z,1758326843.967 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-09-20T00:07:23.971Z,1758326843.971 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.445862
2025-09-20T00:07:24.083Z,1758326844.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.495555 s,
      deltaX: -0.300000 m,
      approachRate: -0.605382 m/s,
      rangeRepo size: 4

2025-09-20T00:07:24.083Z,1758326844.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.26 m.
2025-09-20T00:07:24.086Z,1758326844.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.262156 m,
      nav range: 13.906395 m,
      bearing: 234.713694 deg,
      approach rate: -0.429999 m/s,
      LOS rate: -0.447642 deg/s,
      cmd heading: 227.380372 deg,
      new cmd heading: 227.027494 deg.

2025-09-20T00:07:24.087Z,1758326844.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.962377 target range: 14.262156 and range: 14.00 m.
2025-09-20T00:07:24.216Z,1758326844.216 [DAT](INFO): DAT read: 00:07:25.0721 LVL= 19728, 24609, 22818, 28851, AGC= 52, IDX= 509, 0.16, 0.315,-1.388, 0.480, 0.147, PHS= 0.270,-1.490, 0.289, RAW= 150.5,  10.5, CAL= 150.3,  11.5, ROT= 359.7, -11.5

2025-09-20T00:07:24.220Z,1758326844.220 [DAT](INFO): got valid direction response:
 00:07:25.0721 LVL= 19728, 24609, 22818, 28851, AGC= 52, IDX= 509, 0.16, 0.315,-1.388, 0.480, 0.147, PHS= 0.270,-1.490, 0.289, RAW= 150.5,  10.5, CAL= 150.3,  11.5, ROT= 359.7, -11.5

2025-09-20T00:07:24.221Z,1758326844.221 [DAT](INFO): #Rx 109: Read direction message, but no range.
2025-09-20T00:07:24.225Z,1758326844.225 [DAT](INFO): direction in FSK: [0.979911,-0.005131,0.199368]
2025-09-20T00:07:24.249Z,1758326844.249 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.724510
2025-09-20T00:07:24.458Z,1758326844.458 [DAT](INFO): DAT read: Rx Time:00:07:25.5721 

2025-09-20T00:07:24.460Z,1758326844.460 [DAT](INFO): Rx dataTimestamp_ set to:1758326844.458737
2025-09-20T00:07:24.463Z,1758326844.463 [DAT](INFO): DAT read: Bearing  19.5,  -0.6 (Local)

2025-09-20T00:07:24.465Z,1758326844.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.5,  -0.6 (Local)

2025-09-20T00:07:24.471Z,1758326844.471 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.3

2025-09-20T00:07:24.487Z,1758326844.487 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-09-20T00:07:24.493Z,1758326844.493 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.968437
2025-09-20T00:07:24.581Z,1758326844.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.504874 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:24.583Z,1758326844.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.962940 m,
      bearing: 233.458877 deg,
      lat: 36.779384 deg,
      lon: -121.859722 deg,
      deltaT: 1.000429 s,
      deltaX: -0.299215 m,
      approachRate: -0.299087 m/s,
      posRepo size: 4

2025-09-20T00:07:24.588Z,1758326844.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.96 m.
2025-09-20T00:07:24.591Z,1758326844.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.962940 m,
      nav range: 13.600631 m,
      bearing: 233.932092 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.447642 deg/s,
      cmd heading: 227.027497 deg,
      new cmd heading: 226.581366 deg.

2025-09-20T00:07:24.596Z,1758326844.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954591 target range: 13.962940 and range: 14.00 m.
2025-09-20T00:07:24.709Z,1758326844.709 [DAT](INFO): DAT read: 00:07:25.5721 LVL= 17840, 26721, 19346, 27875, AGC= 51, IDX= 509,-0.01, 0.218,-1.458, 0.373, 0.054, PHS= 0.267,-1.466, 0.275, RAW= 150.3,  10.7, CAL= 150.0,  11.7, ROT= 360.0, -11.7

2025-09-20T00:07:24.710Z,1758326844.710 [DAT](INFO): got valid direction response:
 00:07:25.5721 LVL= 17840, 26721, 19346, 27875, AGC= 51, IDX= 509,-0.01, 0.218,-1.458, 0.373, 0.054, PHS= 0.267,-1.466, 0.275, RAW= 150.3,  10.7, CAL= 150.0,  11.7, ROT= 360.0, -11.7

2025-09-20T00:07:24.711Z,1758326844.711 [DAT](INFO): #Rx 111: Read direction message, but no range.
2025-09-20T00:07:24.712Z,1758326844.712 [DAT](INFO): direction in FSK: [0.979223,0.000000,0.202787]
2025-09-20T00:07:24.715Z,1758326844.715 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.190781
2025-09-20T00:07:24.961Z,1758326844.961 [DAT](INFO): DAT read: Rx Time:00:07:26.0719 

2025-09-20T00:07:24.963Z,1758326844.963 [DAT](INFO): Rx dataTimestamp_ set to:1758326844.961832
2025-09-20T00:07:24.968Z,1758326844.968 [DAT](INFO): DAT read: Bearing  19.7,  -0.6 (Local)

2025-09-20T00:07:24.970Z,1758326844.970 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.7,  -0.6 (Local)

2025-09-20T00:07:24.978Z,1758326844.978 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.3

2025-09-20T00:07:24.980Z,1758326844.980 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-09-20T00:07:24.988Z,1758326844.988 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.459389
2025-09-20T00:07:25.017Z,1758326845.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503095 s,
      deltaX: -0.300000 m,
      approachRate: -0.596309 m/s,
      rangeRepo size: 4

2025-09-20T00:07:25.019Z,1758326845.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.663744 m,
      bearing: 233.613564 deg,
      lat: 36.779384 deg,
      lon: -121.859722 deg,
      deltaT: 0.503095 s,
      deltaX: -0.299196 m,
      approachRate: -0.594711 m/s,
      posRepo size: 4

2025-09-20T00:07:25.020Z,1758326845.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.66 m.
2025-09-20T00:07:25.023Z,1758326845.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.663744 m,
      nav range: 13.444865 m,
      bearing: 233.708129 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.447642 deg/s,
      cmd heading: 226.581362 deg,
      new cmd heading: 226.195148 deg.

2025-09-20T00:07:25.024Z,1758326845.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.947850 target range: 13.663744 and range: 13.70 m.
2025-09-20T00:07:25.226Z,1758326845.226 [DAT](INFO): DAT read: 00:07:26.0719 LVL= 20848, 29009, 25298, 29267, AGC= 51, IDX= 507,-0.17,-2.007, 2.624,-1.853,-2.159, PHS= 0.254,-1.455, 0.262, RAW= 150.2,  11.0, CAL= 150.0,  12.0, ROT= 360.0, -12.0

2025-09-20T00:07:25.231Z,1758326845.231 [DAT](INFO): got valid direction response:
 00:07:26.0719 LVL= 20848, 29009, 25298, 29267, AGC= 51, IDX= 507,-0.17,-2.007, 2.624,-1.853,-2.159, PHS= 0.254,-1.455, 0.262, RAW= 150.2,  11.0, CAL= 150.0,  12.0, ROT= 360.0, -12.0

2025-09-20T00:07:25.232Z,1758326845.232 [DAT](INFO): #Rx 113: Read direction message, but no range.
2025-09-20T00:07:25.235Z,1758326845.235 [DAT](INFO): direction in FSK: [0.978148,0.000000,0.207912]
2025-09-20T00:07:25.257Z,1758326845.257 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.732948
2025-09-20T00:07:25.425Z,1758326845.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:25.427Z,1758326845.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.66 m.
2025-09-20T00:07:25.457Z,1758326845.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.663744 m,
      nav range: 13.256435 m,
      bearing: 233.442600 deg,
      approach rate: -0.454094 m/s,
      LOS rate: -0.648986 deg/s,
      cmd heading: 226.195143 deg,
      new cmd heading: 225.656554 deg.

2025-09-20T00:07:25.465Z,1758326845.465 [DAT](INFO): DAT read: Rx Time:00:07:26.5718 

2025-09-20T00:07:25.467Z,1758326845.467 [DAT](INFO): Rx dataTimestamp_ set to:1758326845.465799
2025-09-20T00:07:25.471Z,1758326845.471 [DAT](INFO): DAT read: Bearing  19.1,  -0.9 (Local)

2025-09-20T00:07:25.472Z,1758326845.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.1,  -0.9 (Local)

2025-09-20T00:07:25.482Z,1758326845.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.938450 target range: 13.663744 and range: 13.70 m.
2025-09-20T00:07:25.500Z,1758326845.500 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.3

2025-09-20T00:07:25.513Z,1758326845.513 [DAT](INFO): DAT read: 00:07:26.5718 LVL= 19872, 30145, 21570, 29235, AGC= 51, IDX= 507,-0.40,-0.312,-1.955,-0.149,-0.466, PHS= 0.255,-1.445, 0.272, RAW= 150.5,  10.7, CAL= 150.3,  11.8, ROT= 359.7, -11.8

2025-09-20T00:07:25.514Z,1758326845.514 [DAT](INFO): got valid direction response:
 00:07:26.5718 LVL= 19872, 30145, 21570, 29235, AGC= 51, IDX= 507,-0.40,-0.312,-1.955,-0.149,-0.466, PHS= 0.255,-1.445, 0.272, RAW= 150.5,  10.7, CAL= 150.3,  11.8, ROT= 359.7, -11.8

2025-09-20T00:07:25.514Z,1758326845.514 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-09-20T00:07:25.515Z,1758326845.515 [DAT](INFO): direction in FSK: [0.978854,-0.005125,0.204496]
2025-09-20T00:07:25.515Z,1758326845.515 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:25.527Z,1758326845.527 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.002865
2025-09-20T00:07:25.713Z,1758326845.713 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.188839
2025-09-20T00:07:25.844Z,1758326845.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503967 s,
      deltaX: -0.200000 m,
      approachRate: -0.396851 m/s,
      rangeRepo size: 4

2025-09-20T00:07:25.846Z,1758326845.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.464273 m,
      bearing: 232.671139 deg,
      lat: 36.779384 deg,
      lon: -121.859722 deg,
      deltaT: 0.503967 s,
      deltaX: -0.199471 m,
      approachRate: -0.395801 m/s,
      posRepo size: 4

2025-09-20T00:07:25.847Z,1758326845.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.46 m.
2025-09-20T00:07:25.850Z,1758326845.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.464273 m,
      nav range: 13.122813 m,
      bearing: 232.984841 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.648986 deg/s,
      cmd heading: 225.656555 deg,
      new cmd heading: 225.116108 deg.

2025-09-20T00:07:25.851Z,1758326845.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.929017 target range: 13.464273 and range: 13.50 m.
2025-09-20T00:07:25.970Z,1758326845.970 [DAT](INFO): DAT read: Rx Time:00:07:27.0716 

2025-09-20T00:07:25.977Z,1758326845.977 [DAT](INFO): Rx dataTimestamp_ set to:1758326845.970676
2025-09-20T00:07:25.990Z,1758326845.990 [DAT](INFO): DAT read: Bearing  18.4,  -1.7 (Local)

2025-09-20T00:07:25.990Z,1758326845.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.4,  -1.7 (Local)

2025-09-20T00:07:26.001Z,1758326846.001 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.3

2025-09-20T00:07:26.010Z,1758326846.010 [DAT](INFO): DAT read: 00:07:27.0716 LVL= 19888, 29297, 22002, 29139, AGC= 52, IDX= 504, 0.33,-0.001,-1.677, 0.195,-0.155, PHS= 0.256,-1.477, 0.306, RAW= 151.4,  10.4, CAL= 151.2,  11.4, ROT= 358.8, -11.4

2025-09-20T00:07:26.011Z,1758326846.011 [DAT](INFO): got valid direction response:
 00:07:27.0716 LVL= 19888, 29297, 22002, 29139, AGC= 52, IDX= 504, 0.33,-0.001,-1.677, 0.195,-0.155, PHS= 0.256,-1.477, 0.306, RAW= 151.4,  10.4, CAL= 151.2,  11.4, ROT= 358.8, -11.4

2025-09-20T00:07:26.020Z,1758326846.020 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-09-20T00:07:26.022Z,1758326846.022 [DAT](INFO): direction in FSK: [0.980056,-0.020529,0.197657]
2025-09-20T00:07:26.022Z,1758326846.022 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:26.030Z,1758326846.030 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.505489
2025-09-20T00:07:26.219Z,1758326846.219 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.694401
2025-09-20T00:07:26.354Z,1758326846.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504877 s,
      deltaX: -0.300000 m,
      approachRate: -0.594204 m/s,
      rangeRepo size: 4

2025-09-20T00:07:26.360Z,1758326846.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.165078 m,
      bearing: 231.751030 deg,
      lat: 36.779383 deg,
      lon: -121.859722 deg,
      deltaT: 0.504877 s,
      deltaX: -0.299195 m,
      approachRate: -0.592610 m/s,
      posRepo size: 4

2025-09-20T00:07:26.361Z,1758326846.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.17 m.
2025-09-20T00:07:26.363Z,1758326846.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.165078 m,
      nav range: 12.979362 m,
      bearing: 232.415559 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.648986 deg/s,
      cmd heading: 225.116109 deg,
      new cmd heading: 224.454490 deg.

2025-09-20T00:07:26.368Z,1758326846.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917470 target range: 13.165078 and range: 13.20 m.
2025-09-20T00:07:26.473Z,1758326846.473 [DAT](INFO): DAT read: Rx Time:00:07:27.5715 

2025-09-20T00:07:26.475Z,1758326846.475 [DAT](INFO): Rx dataTimestamp_ set to:1758326846.473916
2025-09-20T00:07:26.478Z,1758326846.478 [DAT](INFO): DAT read: Bearing  18.0,  -1.5 (Local)

2025-09-20T00:07:26.479Z,1758326846.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.0,  -1.5 (Local)

2025-09-20T00:07:26.487Z,1758326846.487 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.3

2025-09-20T00:07:26.494Z,1758326846.494 [DAT](INFO): DAT read: 00:07:27.5715 LVL= 18896, 27121, 23954, 31987, AGC= 52, IDX= 503, 0.17, 0.273,-1.381, 0.463, 0.118, PHS= 0.257,-1.454, 0.301, RAW= 151.3,  10.4, CAL= 151.0,  11.3, ROT= 359.0, -11.3

2025-09-20T00:07:26.495Z,1758326846.495 [DAT](INFO): got valid direction response:
 00:07:27.5715 LVL= 18896, 27121, 23954, 31987, AGC= 52, IDX= 503, 0.17, 0.273,-1.381, 0.463, 0.118, PHS= 0.257,-1.454, 0.301, RAW= 151.3,  10.4, CAL= 151.0,  11.3, ROT= 359.0, -11.3

2025-09-20T00:07:26.495Z,1758326846.495 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-09-20T00:07:26.496Z,1758326846.496 [DAT](INFO): direction in FSK: [0.980465,-0.017114,0.195946]
2025-09-20T00:07:26.497Z,1758326846.497 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:26.504Z,1758326846.504 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.980270
2025-09-20T00:07:26.722Z,1758326846.722 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.198093
2025-09-20T00:07:26.745Z,1758326846.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503240 s,
      deltaX: -0.099999 m,
      approachRate: -0.198711 m/s,
      rangeRepo size: 4

2025-09-20T00:07:26.765Z,1758326846.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.065343 m,
      bearing: 231.428269 deg,
      lat: 36.779383 deg,
      lon: -121.859722 deg,
      deltaT: 0.503240 s,
      deltaX: -0.099735 m,
      approachRate: -0.198186 m/s,
      posRepo size: 4

2025-09-20T00:07:26.766Z,1758326846.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.07 m.
2025-09-20T00:07:26.769Z,1758326846.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.065343 m,
      nav range: 12.784943 m,
      bearing: 231.987968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.648986 deg/s,
      cmd heading: 224.454496 deg,
      new cmd heading: 223.948093 deg.

2025-09-20T00:07:26.770Z,1758326846.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.908632 target range: 13.065343 and range: 13.10 m.
2025-09-20T00:07:26.978Z,1758326846.978 [DAT](INFO): DAT read: Rx Time:00:07:28.0713 

2025-09-20T00:07:26.980Z,1758326846.980 [DAT](INFO): Rx dataTimestamp_ set to:1758326846.978634
2025-09-20T00:07:26.984Z,1758326846.984 [DAT](INFO): DAT read: Bearing  17.7,  -1.7 (Local)

2025-09-20T00:07:26.986Z,1758326846.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.7,  -1.7 (Local)

2025-09-20T00:07:27.013Z,1758326847.013 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.3

2025-09-20T00:07:27.022Z,1758326847.022 [DAT](INFO): DAT read: 00:07:28.0713 LVL= 17200, 26865, 19666, 28131, AGC= 52, IDX= 501, 0.05,-1.143,-2.793,-0.946,-1.293, PHS= 0.252,-1.455, 0.303, RAW= 151.5,  10.4, CAL= 151.2,  11.4, ROT= 358.8, -11.4

2025-09-20T00:07:27.023Z,1758326847.023 [DAT](INFO): got valid direction response:
 00:07:28.0713 LVL= 17200, 26865, 19666, 28131, AGC= 52, IDX= 501, 0.05,-1.143,-2.793,-0.946,-1.293, PHS= 0.252,-1.455, 0.303, RAW= 151.5,  10.4, CAL= 151.2,  11.4, ROT= 358.8, -11.4

2025-09-20T00:07:27.023Z,1758326847.023 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-09-20T00:07:27.029Z,1758326847.029 [DAT](INFO): direction in FSK: [0.980056,-0.020529,0.197657]
2025-09-20T00:07:27.029Z,1758326847.029 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:27.037Z,1758326847.037 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.512833
2025-09-20T00:07:27.135Z,1758326847.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504718 s,
      deltaX: -0.300000 m,
      approachRate: -0.594392 m/s,
      rangeRepo size: 4

2025-09-20T00:07:27.142Z,1758326847.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.766137 m,
      bearing: 230.968527 deg,
      lat: 36.779383 deg,
      lon: -121.859721 deg,
      deltaT: 0.504718 s,
      deltaX: -0.299206 m,
      approachRate: -0.592818 m/s,
      posRepo size: 4

2025-09-20T00:07:27.142Z,1758326847.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.77 m.
2025-09-20T00:07:27.149Z,1758326847.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.766137 m,
      nav range: 12.617694 m,
      bearing: 231.374900 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.648986 deg/s,
      cmd heading: 223.948092 deg,
      new cmd heading: 223.439953 deg.

2025-09-20T00:07:27.150Z,1758326847.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899763 target range: 12.766137 and range: 12.80 m.
2025-09-20T00:07:27.229Z,1758326847.229 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.704159
2025-09-20T00:07:27.482Z,1758326847.482 [DAT](INFO): DAT read: Rx Time:00:07:28.5713 

2025-09-20T00:07:27.488Z,1758326847.488 [DAT](INFO): Rx dataTimestamp_ set to:1758326847.482777
2025-09-20T00:07:27.489Z,1758326847.489 [DAT](INFO): DAT read: Bearing  17.6,  -1.3 (Local)

2025-09-20T00:07:27.490Z,1758326847.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.6,  -1.3 (Local)

2025-09-20T00:07:27.492Z,1758326847.492 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.3

2025-09-20T00:07:27.507Z,1758326847.507 [DAT](INFO): DAT read: 00:07:28.5713 LVL= 18848, 26833, 20818, 30787, AGC= 53, IDX= 501,-0.03,-1.182,-2.810,-0.998,-1.327, PHS= 0.247,-1.438, 0.284, RAW= 151.1,  10.7, CAL= 150.9,  11.7, ROT= 359.1, -11.7

2025-09-20T00:07:27.517Z,1758326847.517 [DAT](INFO): got valid direction response:
 00:07:28.5713 LVL= 18848, 26833, 20818, 30787, AGC= 53, IDX= 501,-0.03,-1.182,-2.810,-0.998,-1.327, PHS= 0.247,-1.438, 0.284, RAW= 151.1,  10.7, CAL= 150.9,  11.7, ROT= 359.1, -11.7

2025-09-20T00:07:27.517Z,1758326847.517 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-09-20T00:07:27.518Z,1758326847.518 [DAT](INFO): direction in FSK: [0.979102,-0.015381,0.202787]
2025-09-20T00:07:27.518Z,1758326847.518 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:27.534Z,1758326847.534 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.009975
2025-09-20T00:07:27.651Z,1758326847.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504143 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:27.657Z,1758326847.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.766137 m,
      bearing: 230.995937 deg,
      lat: 36.779383 deg,
      lon: -121.859721 deg,
      deltaT: 0.504143 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:27.658Z,1758326847.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.77 m.
2025-09-20T00:07:27.665Z,1758326847.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.766137 m,
      nav range: 12.417150 m,
      bearing: 231.041523 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.648986 deg/s,
      cmd heading: 223.439953 deg,
      new cmd heading: 222.770705 deg.

2025-09-20T00:07:27.666Z,1758326847.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.888082 target range: 12.766137 and range: 12.80 m.
2025-09-20T00:07:27.730Z,1758326847.730 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.206219
2025-09-20T00:07:27.985Z,1758326847.985 [DAT](INFO): DAT read: Rx Time:00:07:29.0711 

2025-09-20T00:07:27.985Z,1758326847.985 [DAT](INFO): Rx dataTimestamp_ set to:1758326847.984817
2025-09-20T00:07:27.986Z,1758326847.986 [DAT](INFO): DAT read: Bearing  17.3,  -0.9 (Local)

2025-09-20T00:07:27.987Z,1758326847.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.3,  -0.9 (Local)

2025-09-20T00:07:27.989Z,1758326847.989 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.3

2025-09-20T00:07:27.989Z,1758326847.989 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-09-20T00:07:27.990Z,1758326847.990 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.466129
2025-09-20T00:07:28.077Z,1758326848.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:28.084Z,1758326848.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502040 s,
      deltaX: -0.300000 m,
      approachRate: -0.597562 m/s,
      rangeRepo size: 4

2025-09-20T00:07:28.085Z,1758326848.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.77 m.
2025-09-20T00:07:28.087Z,1758326848.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.766137 m,
      nav range: 12.245642 m,
      bearing: 230.765240 deg,
      approach rate: -0.399953 m/s,
      LOS rate: -0.653308 deg/s,
      cmd heading: 222.770704 deg,
      new cmd heading: 222.210419 deg.

2025-09-20T00:07:28.093Z,1758326848.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878304 target range: 12.766137 and range: 12.50 m.
2025-09-20T00:07:28.251Z,1758326848.251 [DAT](INFO): DAT read: 00:07:29.0711 LVL= 17888, 27329, 19154, 28803, AGC= 52, IDX= 499,-0.09,-2.762, 1.900,-2.590,-2.910, PHS= 0.250,-1.428, 0.276, RAW= 150.8,  10.7, CAL= 150.5,  11.7, ROT= 359.5, -11.7

2025-09-20T00:07:28.255Z,1758326848.255 [DAT](INFO): got valid direction response:
 00:07:29.0711 LVL= 17888, 27329, 19154, 28803, AGC= 52, IDX= 499,-0.09,-2.762, 1.900,-2.590,-2.910, PHS= 0.250,-1.428, 0.276, RAW= 150.8,  10.7, CAL= 150.5,  11.7, ROT= 359.5, -11.7

2025-09-20T00:07:28.256Z,1758326848.256 [DAT](INFO): #Rx 120: Read direction message, but no range.
2025-09-20T00:07:28.260Z,1758326848.260 [DAT](INFO): direction in FSK: [0.979186,-0.008545,0.202787]
2025-09-20T00:07:28.272Z,1758326848.272 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:07:28.272Z,1758326848.272 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:07:28.274Z,1758326848.274 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:28.486Z,1758326848.486 [DAT](INFO): DAT read: Rx Time:00:07:29.5711 

2025-09-20T00:07:28.486Z,1758326848.486 [DAT](INFO): Rx dataTimestamp_ set to:1758326848.485721
2025-09-20T00:07:28.487Z,1758326848.487 [DAT](INFO): DAT read: Bearing  16.9,  -0.9 (Local)

2025-09-20T00:07:28.488Z,1758326848.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.9,  -0.9 (Local)

2025-09-20T00:07:28.490Z,1758326848.490 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.3

2025-09-20T00:07:28.494Z,1758326848.494 [DAT](INFO): DAT read: 00:07:29.5711 LVL= 18448, 27729, 20082, 29299, AGC= 52, IDX= 499,-0.17,-1.933, 2.741,-1.764,-2.080, PHS= 0.249,-1.417, 0.272, RAW= 150.7,  10.7, CAL= 150.5,  11.7, ROT= 359.5, -11.7

2025-09-20T00:07:28.495Z,1758326848.495 [DAT](INFO): got valid direction response:
 00:07:29.5711 LVL= 18448, 27729, 20082, 29299, AGC= 52, IDX= 499,-0.17,-1.933, 2.741,-1.764,-2.080, PHS= 0.249,-1.417, 0.272, RAW= 150.7,  10.7, CAL= 150.5,  11.7, ROT= 359.5, -11.7

2025-09-20T00:07:28.496Z,1758326848.496 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:28.497Z,1758326848.497 [DAT](INFO): direction in FSK: [0.979186,-0.008545,0.202787]
2025-09-20T00:07:28.497Z,1758326848.497 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:28.504Z,1758326848.504 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:28.505Z,1758326848.505 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:28.571Z,1758326848.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.500904 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:28.581Z,1758326848.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.466946 m,
      bearing: 230.801669 deg,
      lat: 36.779382 deg,
      lon: -121.859721 deg,
      deltaT: 1.002944 s,
      deltaX: -0.299191 m,
      approachRate: -0.298313 m/s,
      posRepo size: 4

2025-09-20T00:07:28.582Z,1758326848.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.47 m.
2025-09-20T00:07:28.589Z,1758326848.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.466946 m,
      nav range: 12.083094 m,
      bearing: 230.351201 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.653308 deg/s,
      cmd heading: 222.210424 deg,
      new cmd heading: 221.568818 deg.

2025-09-20T00:07:28.590Z,1758326848.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.867105 target range: 12.466946 and range: 12.50 m.
2025-09-20T00:07:28.734Z,1758326848.734 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:07:28.739Z,1758326848.739 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:28.984Z,1758326848.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.47 m.
2025-09-20T00:07:28.987Z,1758326848.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.466946 m,
      nav range: 11.932783 m,
      bearing: 230.145980 deg,
      approach rate: -0.368311 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 221.568823 deg,
      new cmd heading: 221.153218 deg.

2025-09-20T00:07:28.990Z,1758326848.990 [DAT](INFO): DAT read: Rx Time:00:07:30.0709 

2025-09-20T00:07:28.990Z,1758326848.990 [DAT](INFO): Rx dataTimestamp_ set to:1758326848.989820
2025-09-20T00:07:28.991Z,1758326848.991 [DAT](INFO): DAT read: Bearing  16.8,  -1.4 (Local)

2025-09-20T00:07:28.992Z,1758326848.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.8,  -1.4 (Local)

2025-09-20T00:07:28.994Z,1758326848.994 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.3

2025-09-20T00:07:28.998Z,1758326848.998 [DAT](INFO): DAT read: 00:07:30.0709 LVL= 18272, 29105, 20114, 29123, AGC= 52, IDX= 497,-0.28,-2.798, 1.851,-2.615,-2.936, PHS= 0.239,-1.452, 0.277, RAW= 151.1,  10.9, CAL= 150.9,  12.0, ROT= 359.1, -12.0

2025-09-20T00:07:28.999Z,1758326848.999 [DAT](INFO): got valid direction response:
 00:07:30.0709 LVL= 18272, 29105, 20114, 29123, AGC= 52, IDX= 497,-0.28,-2.798, 1.851,-2.615,-2.936, PHS= 0.239,-1.452, 0.277, RAW= 151.1,  10.9, CAL= 150.9,  12.0, ROT= 359.1, -12.0

2025-09-20T00:07:28.000Z,1758326849.000 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:29.001Z,1758326849.001 [DAT](INFO): direction in FSK: [0.978027,-0.015364,0.207912]
2025-09-20T00:07:29.001Z,1758326849.001 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:29.012Z,1758326849.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.859852 target range: 12.466946 and range: 12.50 m.
2025-09-20T00:07:29.012Z,1758326849.012 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:29.020Z,1758326849.020 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:29.243Z,1758326849.243 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:29.386Z,1758326849.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504099 s,
      deltaX: -0.200000 m,
      approachRate: -0.396747 m/s,
      rangeRepo size: 4

2025-09-20T00:07:29.388Z,1758326849.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.267467 m,
      bearing: 229.817209 deg,
      lat: 36.779382 deg,
      lon: -121.859721 deg,
      deltaT: 0.504099 s,
      deltaX: -0.199478 m,
      approachRate: -0.395712 m/s,
      posRepo size: 4

2025-09-20T00:07:29.393Z,1758326849.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.27 m.
2025-09-20T00:07:29.395Z,1758326849.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.267467 m,
      nav range: 11.813482 m,
      bearing: 230.049436 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 221.153220 deg,
      new cmd heading: 220.739126 deg.

2025-09-20T00:07:29.400Z,1758326849.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.852625 target range: 12.267467 and range: 12.30 m.
2025-09-20T00:07:29.494Z,1758326849.494 [DAT](INFO): DAT read: Rx Time:00:07:30.5708 

2025-09-20T00:07:29.494Z,1758326849.494 [DAT](INFO): Rx dataTimestamp_ set to:1758326849.493730
2025-09-20T00:07:29.495Z,1758326849.495 [DAT](INFO): DAT read: Bearing  18.7, -15.1 (Local)

2025-09-20T00:07:29.496Z,1758326849.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.7, -15.1 (Local)

2025-09-20T00:07:29.498Z,1758326849.498 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.3

2025-09-20T00:07:29.502Z,1758326849.502 [DAT](INFO): DAT read: 00:07:30.5708 LVL= 18160, 28273, 20770, 27123, AGC= 51, IDX= 513,-0.39,-1.693,-3.123,-1.022,-1.529, PHS=-0.062,-1.548, 0.463, RAW= 164.6,  12.6, CAL= 164.9,  14.7, ROT= 345.1, -14.7

2025-09-20T00:07:29.503Z,1758326849.503 [DAT](INFO): got valid direction response:
 00:07:30.5708 LVL= 18160, 28273, 20770, 27123, AGC= 51, IDX= 513,-0.39,-1.693,-3.123,-1.022,-1.529, PHS=-0.062,-1.548, 0.463, RAW= 164.6,  12.6, CAL= 164.9,  14.7, ROT= 345.1, -14.7

2025-09-20T00:07:29.504Z,1758326849.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:29.505Z,1758326849.505 [DAT](INFO): direction in FSK: [0.934744,-0.248716,0.253758]
2025-09-20T00:07:29.505Z,1758326849.505 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:29.514Z,1758326849.514 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:29.515Z,1758326849.515 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:29.737Z,1758326849.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:07:29.747Z,1758326849.747 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:29.826Z,1758326849.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503910 s,
      deltaX: -0.100000 m,
      approachRate: -0.198449 m/s,
      rangeRepo size: 4

2025-09-20T00:07:29.849Z,1758326849.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.167731 m,
      bearing: 215.622228 deg,
      lat: 36.779382 deg,
      lon: -121.859721 deg,
      deltaT: 0.503910 s,
      deltaX: -0.099736 m,
      approachRate: -0.197925 m/s,
      posRepo size: 4

2025-09-20T00:07:29.849Z,1758326849.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.17 m.
2025-09-20T00:07:29.856Z,1758326849.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.167731 m,
      nav range: 11.635419 m,
      bearing: 229.780956 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 220.739133 deg,
      new cmd heading: 220.290152 deg.

2025-09-20T00:07:29.857Z,1758326849.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844789 target range: 12.167731 and range: 12.20 m.
2025-09-20T00:07:29.998Z,1758326849.998 [DAT](INFO): DAT read: Rx Time:00:07:31.0707 

2025-09-20T00:07:29.998Z,1758326849.998 [DAT](INFO): Rx dataTimestamp_ set to:1758326849.997789
2025-09-20T00:07:29.999Z,1758326849.999 [DAT](INFO): DAT read: Bearing  15.3,  -1.5 (Local)

2025-09-20T00:07:29.000Z,1758326850.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.3,  -1.5 (Local)

2025-09-20T00:07:30.002Z,1758326850.002 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.3

2025-09-20T00:07:30.007Z,1758326850.007 [DAT](INFO): DAT read: 00:07:31.0707 LVL= 20128, 31665, 20882, 32243, AGC= 49, IDX= 510, 0.49,-1.649, 3.005,-1.460,-1.798, PHS= 0.251,-1.434, 0.294, RAW= 151.3,  10.4, CAL= 151.0,  11.4, ROT= 359.0, -11.4

2025-09-20T00:07:30.008Z,1758326850.008 [DAT](INFO): got valid direction response:
 00:07:31.0707 LVL= 20128, 31665, 20882, 32243, AGC= 49, IDX= 510, 0.49,-1.649, 3.005,-1.460,-1.798, PHS= 0.251,-1.434, 0.294, RAW= 151.3,  10.4, CAL= 151.0,  11.4, ROT= 359.0, -11.4

2025-09-20T00:07:30.008Z,1758326850.008 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:30.009Z,1758326850.009 [DAT](INFO): direction in FSK: [0.980122,-0.017108,0.197657]
2025-09-20T00:07:30.009Z,1758326850.009 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:30.022Z,1758326850.022 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:30.022Z,1758326850.022 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:30.249Z,1758326850.249 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:30.319Z,1758326850.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504059 s,
      deltaX: -0.300000 m,
      approachRate: -0.595169 m/s,
      rangeRepo size: 4

2025-09-20T00:07:30.327Z,1758326850.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.868520 m,
      bearing: 229.001591 deg,
      lat: 36.779381 deg,
      lon: -121.859722 deg,
      deltaT: 0.504059 s,
      deltaX: -0.299212 m,
      approachRate: -0.593604 m/s,
      posRepo size: 4

2025-09-20T00:07:30.332Z,1758326850.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.87 m.
2025-09-20T00:07:30.334Z,1758326850.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.868520 m,
      nav range: 11.597414 m,
      bearing: 229.133567 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 220.290157 deg,
      new cmd heading: 219.796564 deg.

2025-09-20T00:07:30.335Z,1758326850.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836174 target range: 11.868520 and range: 11.90 m.
2025-09-20T00:07:30.502Z,1758326850.502 [DAT](INFO): DAT read: Rx Time:00:07:31.5706 

2025-09-20T00:07:30.502Z,1758326850.502 [DAT](INFO): Rx dataTimestamp_ set to:1758326850.501754
2025-09-20T00:07:30.503Z,1758326850.503 [DAT](INFO): DAT read: Bearing  15.5,  -2.0 (Local)

2025-09-20T00:07:30.504Z,1758326850.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.5,  -2.0 (Local)

2025-09-20T00:07:30.506Z,1758326850.506 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.3

2025-09-20T00:07:30.510Z,1758326850.510 [DAT](INFO): DAT read: 00:07:31.5706 LVL= 18864, 23777, 21890, 27027, AGC= 50, IDX= 509, 0.32,-1.529, 3.084,-1.326,-1.662, PHS= 0.235,-1.492, 0.292, RAW= 151.6,  11.0, CAL= 151.5,  12.1, ROT= 358.5, -12.1

2025-09-20T00:07:30.511Z,1758326850.511 [DAT](INFO): got valid direction response:
 00:07:31.5706 LVL= 18864, 23777, 21890, 27027, AGC= 50, IDX= 509, 0.32,-1.529, 3.084,-1.326,-1.662, PHS= 0.235,-1.492, 0.292, RAW= 151.6,  11.0, CAL= 151.5,  12.1, ROT= 358.5, -12.1

2025-09-20T00:07:30.512Z,1758326850.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:30.513Z,1758326850.513 [DAT](INFO): direction in FSK: [0.977448,-0.025596,0.209619]
2025-09-20T00:07:30.513Z,1758326850.513 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:30.521Z,1758326850.521 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:30.521Z,1758326850.521 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:30.698Z,1758326850.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.503965 s,
      deltaX: -0.200000 m,
      approachRate: -0.396853 m/s,
      rangeRepo size: 4

2025-09-20T00:07:30.700Z,1758326850.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.669049 m,
      bearing: 227.878158 deg,
      lat: 36.779380 deg,
      lon: -121.859722 deg,
      deltaT: 0.503965 s,
      deltaX: -0.199471 m,
      approachRate: -0.395802 m/s,
      posRepo size: 4

2025-09-20T00:07:30.700Z,1758326850.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.67 m.
2025-09-20T00:07:30.703Z,1758326850.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.669049 m,
      nav range: 11.445314 m,
      bearing: 228.823865 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 219.796567 deg,
      new cmd heading: 219.403079 deg.

2025-09-20T00:07:30.725Z,1758326850.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829306 target range: 11.669049 and range: 11.70 m.
2025-09-20T00:07:30.756Z,1758326850.756 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:31.014Z,1758326851.014 [DAT](INFO): DAT read: Rx Time:00:07:32.0704 

2025-09-20T00:07:31.015Z,1758326851.015 [DAT](INFO): Rx dataTimestamp_ set to:1758326851.014252
2025-09-20T00:07:31.017Z,1758326851.017 [DAT](INFO): DAT read: Bearing  14.7,  -1.2 (Local)

2025-09-20T00:07:31.017Z,1758326851.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.7,  -1.2 (Local)

2025-09-20T00:07:31.019Z,1758326851.019 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed 0.3

2025-09-20T00:07:31.025Z,1758326851.025 [DAT](INFO): DAT read: 00:07:32.0704 LVL= 19312, 27809, 22850, 31459, AGC= 49, IDX= 507, 0.22,-2.735, 1.899,-2.557,-2.885, PHS= 0.251,-1.455, 0.284, RAW= 150.9,  10.7, CAL= 150.7,  11.7, ROT= 359.3, -11.7

2025-09-20T00:07:31.026Z,1758326851.026 [DAT](INFO): got valid direction response:
 00:07:32.0704 LVL= 19312, 27809, 22850, 31459, AGC= 49, IDX= 507, 0.22,-2.735, 1.899,-2.557,-2.885, PHS= 0.251,-1.455, 0.284, RAW= 150.9,  10.7, CAL= 150.7,  11.7, ROT= 359.3, -11.7

2025-09-20T00:07:31.026Z,1758326851.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:31.027Z,1758326851.027 [DAT](INFO): direction in FSK: [0.979150,-0.011963,0.202787]
2025-09-20T00:07:31.027Z,1758326851.027 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:31.031Z,1758326851.031 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:31.031Z,1758326851.031 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:31.160Z,1758326851.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.512498 s,
      deltaX: -0.300000 m,
      approachRate: -0.585369 m/s,
      rangeRepo size: 4

2025-09-20T00:07:31.162Z,1758326851.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.369851 m,
      bearing: 228.308654 deg,
      lat: 36.779380 deg,
      lon: -121.859720 deg,
      deltaT: 0.512498 s,
      deltaX: -0.299198 m,
      approachRate: -0.583804 m/s,
      posRepo size: 4

2025-09-20T00:07:31.163Z,1758326851.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.37 m.
2025-09-20T00:07:31.170Z,1758326851.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.369851 m,
      nav range: 11.152709 m,
      bearing: 228.104692 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 219.403079 deg,
      new cmd heading: 218.944592 deg.

2025-09-20T00:07:31.171Z,1758326851.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821304 target range: 11.369851 and range: 11.40 m.
2025-09-20T00:07:31.264Z,1758326851.264 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:31.514Z,1758326851.514 [DAT](INFO): DAT read: Rx Time:00:07:32.5704 

2025-09-20T00:07:31.514Z,1758326851.514 [DAT](INFO): Rx dataTimestamp_ set to:1758326851.513708
2025-09-20T00:07:31.515Z,1758326851.515 [DAT](INFO): DAT read: Bearing  14.4,  -0.8 (Local)

2025-09-20T00:07:31.516Z,1758326851.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.4,  -0.8 (Local)

2025-09-20T00:07:31.518Z,1758326851.518 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed 0.3

2025-09-20T00:07:31.522Z,1758326851.522 [DAT](INFO): DAT read: 00:07:32.5704 LVL= 20176, 29121, 20466, 28611, AGC= 48, IDX= 507, 0.10,-1.787, 2.851,-1.622,-1.939, PHS= 0.254,-1.448, 0.273, RAW= 150.6,  10.8, CAL= 150.3,  11.8, ROT= 359.7, -11.8

2025-09-20T00:07:31.523Z,1758326851.523 [DAT](INFO): got valid direction response:
 00:07:32.5704 LVL= 20176, 29121, 20466, 28611, AGC= 48, IDX= 507, 0.10,-1.787, 2.851,-1.622,-1.939, PHS= 0.254,-1.448, 0.273, RAW= 150.6,  10.8, CAL= 150.3,  11.8, ROT= 359.7, -11.8

2025-09-20T00:07:31.525Z,1758326851.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:31.526Z,1758326851.526 [DAT](INFO): direction in FSK: [0.978854,-0.005125,0.204496]
2025-09-20T00:07:31.527Z,1758326851.527 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:31.530Z,1758326851.530 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:31.530Z,1758326851.530 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:31.675Z,1758326851.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.499456 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:31.681Z,1758326851.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.369851 m,
      bearing: 228.393002 deg,
      lat: 36.779380 deg,
      lon: -121.859720 deg,
      deltaT: 0.499456 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:31.682Z,1758326851.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.37 m.
2025-09-20T00:07:31.687Z,1758326851.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.369851 m,
      nav range: 10.981964 m,
      bearing: 227.786124 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 218.944596 deg,
      new cmd heading: 218.407946 deg.

2025-09-20T00:07:31.696Z,1758326851.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.811938 target range: 11.369851 and range: 11.40 m.
2025-09-20T00:07:31.765Z,1758326851.765 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:32.018Z,1758326852.018 [DAT](INFO): DAT read: Rx Time:00:07:33.0701 

2025-09-20T00:07:32.018Z,1758326852.018 [DAT](INFO): Rx dataTimestamp_ set to:1758326852.017872
2025-09-20T00:07:32.019Z,1758326852.019 [DAT](INFO): DAT read: Bearing  14.4,   0.0 (Local)

2025-09-20T00:07:32.020Z,1758326852.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.4,   0.0 (Local)

2025-09-20T00:07:32.022Z,1758326852.022 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.3

2025-09-20T00:07:32.027Z,1758326852.027 [DAT](INFO): DAT read: 00:07:33.0701 LVL= 18784, 27985, 20274, 29219, AGC= 48, IDX= 505,-0.02, 2.430, 0.777, 2.563, 2.274, PHS= 0.257,-1.452, 0.245, RAW= 149.6,  11.1, CAL= 149.4,  12.2, ROT=   0.6, -12.2

2025-09-20T00:07:32.028Z,1758326852.028 [DAT](INFO): got valid direction response:
 00:07:33.0701 LVL= 18784, 27985, 20274, 29219, AGC= 48, IDX= 505,-0.02, 2.430, 0.777, 2.563, 2.274, PHS= 0.257,-1.452, 0.245, RAW= 149.6,  11.1, CAL= 149.4,  12.2, ROT=   0.6, -12.2

2025-09-20T00:07:32.028Z,1758326852.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:32.029Z,1758326852.029 [DAT](INFO): direction in FSK: [0.977362,0.010235,0.211325]
2025-09-20T00:07:32.029Z,1758326852.029 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:32.037Z,1758326852.037 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:32.038Z,1758326852.038 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:32.124Z,1758326852.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504164 s,
      deltaX: -0.400000 m,
      approachRate: -0.793392 m/s,
      rangeRepo size: 4

2025-09-20T00:07:32.126Z,1758326852.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.970916 m,
      bearing: 228.954122 deg,
      lat: 36.779380 deg,
      lon: -121.859721 deg,
      deltaT: 0.504164 s,
      deltaX: -0.398935 m,
      approachRate: -0.791281 m/s,
      posRepo size: 4

2025-09-20T00:07:32.127Z,1758326852.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.97 m.
2025-09-20T00:07:32.134Z,1758326852.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.970916 m,
      nav range: 10.847603 m,
      bearing: 228.108798 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 218.407948 deg,
      new cmd heading: 217.958556 deg.

2025-09-20T00:07:32.135Z,1758326852.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804095 target range: 10.970916 and range: 11.00 m.
2025-09-20T00:07:32.269Z,1758326852.269 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:32.521Z,1758326852.521 [DAT](INFO): DAT read: Rx Time:00:07:33.5701 

2025-09-20T00:07:32.522Z,1758326852.522 [DAT](INFO): Rx dataTimestamp_ set to:1758326852.521662
2025-09-20T00:07:32.523Z,1758326852.523 [DAT](INFO): DAT read: Bearing  14.0,   0.8 (Local)

2025-09-20T00:07:32.524Z,1758326852.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.0,   0.8 (Local)

2025-09-20T00:07:32.526Z,1758326852.526 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.3

2025-09-20T00:07:32.530Z,1758326852.530 [DAT](INFO): DAT read: 00:07:33.5701 LVL= 19248, 29153, 21266, 29539, AGC= 48, IDX= 505,-0.14,-3.069, 1.558,-2.959, 3.051, PHS= 0.265,-1.448, 0.229, RAW= 148.9,  11.2, CAL= 148.7,  12.3, ROT=   1.3, -12.3

2025-09-20T00:07:32.531Z,1758326852.531 [DAT](INFO): got valid direction response:
 00:07:33.5701 LVL= 19248, 29153, 21266, 29539, AGC= 48, IDX= 505,-0.14,-3.069, 1.558,-2.959, 3.051, PHS= 0.265,-1.448, 0.229, RAW= 148.9,  11.2, CAL= 148.7,  12.3, ROT=   1.3, -12.3

2025-09-20T00:07:32.532Z,1758326852.532 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:32.533Z,1758326852.533 [DAT](INFO): direction in FSK: [0.976794,0.022167,0.213030]
2025-09-20T00:07:32.533Z,1758326852.533 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:32.537Z,1758326852.537 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:32.537Z,1758326852.537 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:32.567Z,1758326852.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.503790 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:32.590Z,1758326852.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.970916 m,
      bearing: 229.356653 deg,
      lat: 36.779381 deg,
      lon: -121.859721 deg,
      deltaT: 0.503790 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:32.590Z,1758326852.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.97 m.
2025-09-20T00:07:32.601Z,1758326852.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.970916 m,
      nav range: 10.642776 m,
      bearing: 228.200306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.509194 deg/s,
      cmd heading: 217.958563 deg,
      new cmd heading: 217.498983 deg.

2025-09-20T00:07:32.602Z,1758326852.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796073 target range: 10.970916 and range: 11.00 m.
2025-09-20T00:07:32.773Z,1758326852.773 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:32.893Z,1758326852.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:32.895Z,1758326852.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.97 m.
2025-09-20T00:07:32.898Z,1758326852.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.970916 m,
      nav range: 10.500400 m,
      bearing: 228.102450 deg,
      approach rate: -0.434179 m/s,
      LOS rate: -0.302459 deg/s,
      cmd heading: 217.498987 deg,
      new cmd heading: 217.300622 deg.

2025-09-20T00:07:32.898Z,1758326852.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792611 target range: 10.970916 and range: 11.00 m.
2025-09-20T00:07:33.027Z,1758326853.027 [DAT](INFO): DAT read: Rx Time:00:07:34.0698 

2025-09-20T00:07:33.027Z,1758326853.027 [DAT](INFO): Rx dataTimestamp_ set to:1758326853.026926
2025-09-20T00:07:33.029Z,1758326853.029 [DAT](INFO): DAT read: Bearing  13.9,   1.6 (Local)

2025-09-20T00:07:33.030Z,1758326853.030 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.9,   1.6 (Local)

2025-09-20T00:07:33.033Z,1758326853.033 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.3

2025-09-20T00:07:33.038Z,1758326853.038 [DAT](INFO): DAT read: 00:07:34.0698 LVL= 18784, 29761, 21618, 29171, AGC= 49, IDX= 503,-0.28, 1.717, 0.033, 1.798, 1.546, PHS= 0.273,-1.468, 0.208, RAW= 148.1,  11.5, CAL= 147.9,  12.6, ROT=   2.1, -12.6

2025-09-20T00:07:33.039Z,1758326853.039 [DAT](INFO): got valid direction response:
 00:07:34.0698 LVL= 18784, 29761, 21618, 29171, AGC= 49, IDX= 503,-0.28, 1.717, 0.033, 1.798, 1.546, PHS= 0.273,-1.468, 0.208, RAW= 148.1,  11.5, CAL= 147.9,  12.6, ROT=   2.1, -12.6

2025-09-20T00:07:33.040Z,1758326853.040 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:33.041Z,1758326853.041 [DAT](INFO): direction in FSK: [0.975261,0.035761,0.218143]
2025-09-20T00:07:33.041Z,1758326853.041 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:33.045Z,1758326853.045 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:33.045Z,1758326853.045 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:33.278Z,1758326853.278 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:33.383Z,1758326853.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.505264 s,
      deltaX: -0.500000 m,
      approachRate: -0.989582 m/s,
      rangeRepo size: 4

2025-09-20T00:07:33.389Z,1758326853.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.472224 m,
      bearing: 229.465902 deg,
      lat: 36.779382 deg,
      lon: -121.859722 deg,
      deltaT: 0.505264 s,
      deltaX: -0.498692 m,
      approachRate: -0.986992 m/s,
      posRepo size: 4

2025-09-20T00:07:33.390Z,1758326853.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:33.397Z,1758326853.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 10.296334 m,
      bearing: 228.776302 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.302459 deg/s,
      cmd heading: 217.300624 deg,
      new cmd heading: 217.005434 deg.

2025-09-20T00:07:33.398Z,1758326853.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787459 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:33.531Z,1758326853.531 [DAT](INFO): DAT read: Rx Time:00:07:34.5698 

2025-09-20T00:07:33.532Z,1758326853.532 [DAT](INFO): Rx dataTimestamp_ set to:1758326853.531324
2025-09-20T00:07:33.534Z,1758326853.534 [DAT](INFO): DAT read: Bearing  13.3,   2.7 (Local)

2025-09-20T00:07:33.534Z,1758326853.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.3,   2.7 (Local)

2025-09-20T00:07:33.537Z,1758326853.537 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.3

2025-09-20T00:07:33.544Z,1758326853.544 [DAT](INFO): DAT read: 00:07:34.5698 LVL= 18800, 26609, 22098, 30771, AGC= 48, IDX= 503,-0.45,-2.896, 1.699,-2.847,-3.084, PHS= 0.290,-1.455, 0.193, RAW= 147.2,  11.4, CAL= 146.9,  12.5, ROT=   3.1, -12.5

2025-09-20T00:07:33.551Z,1758326853.551 [DAT](INFO): got valid direction response:
 00:07:34.5698 LVL= 18800, 26609, 22098, 30771, AGC= 48, IDX= 503,-0.45,-2.896, 1.699,-2.847,-3.084, PHS= 0.290,-1.455, 0.193, RAW= 147.2,  11.4, CAL= 146.9,  12.5, ROT=   3.1, -12.5

2025-09-20T00:07:33.551Z,1758326853.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:33.561Z,1758326853.561 [DAT](INFO): direction in FSK: [0.974867,0.052797,0.216440]
2025-09-20T00:07:33.561Z,1758326853.561 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:33.571Z,1758326853.571 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:33.571Z,1758326853.571 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T00:07:33.781Z,1758326853.781 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:33.808Z,1758326853.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.504398 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:33.810Z,1758326853.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.472224 m,
      bearing: 230.457354 deg,
      lat: 36.779382 deg,
      lon: -121.859722 deg,
      deltaT: 0.504398 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:33.810Z,1758326853.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:33.876Z,1758326853.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 10.111997 m,
      bearing: 228.871265 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.302459 deg/s,
      cmd heading: 217.005437 deg,
      new cmd heading: 216.748772 deg.

2025-09-20T00:07:33.881Z,1758326853.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782980 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:34.033Z,1758326854.033 [DAT](INFO): DAT read: user:742>

2025-09-20T00:07:34.033Z,1758326854.033 [DAT](INFO): DAT read: 120

2025-09-20T00:07:34.034Z,1758326854.034 [DAT](INFO): unknown deviceResponse_: 120

2025-09-20T00:07:34.034Z,1758326854.034 [DAT](INFO): DAT read: Ok

2025-09-20T00:07:34.034Z,1758326854.034 [DAT](INFO): unknown deviceResponse_: Ok

2025-09-20T00:07:34.035Z,1758326854.035 [DAT](INFO): DAT read: user:743>

2025-09-20T00:07:34.035Z,1758326854.035 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:07:34.207Z,1758326854.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:34.216Z,1758326854.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 9.964289 m,
      bearing: 228.790265 deg,
      approach rate: -0.369882 m/s,
      LOS rate: -0.205844 deg/s,
      cmd heading: 216.748772 deg,
      new cmd heading: 216.584370 deg.

2025-09-20T00:07:34.218Z,1758326854.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.780110 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:34.286Z,1758326854.286 [DAT](INFO): DAT read: Tx time:00:07:35.5600

2025-09-20T00:07:34.286Z,1758326854.286 [DAT](INFO): Ping request sent.
2025-09-20T00:07:34.287Z,1758326854.287 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:07:34.287Z,1758326854.287 [DAT](INFO): publishing transmit ping time
2025-09-20T00:07:34.288Z,1758326854.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001279
2025-09-20T00:07:34.537Z,1758326854.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250528
2025-09-20T00:07:34.634Z,1758326854.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:34.641Z,1758326854.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 9.798775 m,
      bearing: 228.693737 deg,
      approach rate: -0.386788 m/s,
      LOS rate: -0.229386 deg/s,
      cmd heading: 216.584370 deg,
      new cmd heading: 216.388053 deg.

2025-09-20T00:07:34.642Z,1758326854.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776684 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:34.789Z,1758326854.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502633
2025-09-20T00:07:34.999Z,1758326854.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:35.001Z,1758326855.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:35.003Z,1758326855.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 9.659105 m,
      bearing: 228.615186 deg,
      approach rate: -0.380909 m/s,
      LOS rate: -0.217323 deg/s,
      cmd heading: 216.388056 deg,
      new cmd heading: 216.228683 deg.

2025-09-20T00:07:35.005Z,1758326855.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773902 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:35.041Z,1758326855.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754694
2025-09-20T00:07:35.293Z,1758326855.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006533
2025-09-20T00:07:35.443Z,1758326855.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:35.446Z,1758326855.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 9.493075 m,
      bearing: 228.502340 deg,
      approach rate: -0.375490 m/s,
      LOS rate: -0.259673 deg/s,
      cmd heading: 216.228681 deg,
      new cmd heading: 215.999043 deg.

2025-09-20T00:07:35.447Z,1758326855.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769895 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:35.546Z,1758326855.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259004
2025-09-20T00:07:35.797Z,1758326855.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510629
2025-09-20T00:07:35.821Z,1758326855.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:35.824Z,1758326855.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 9.353459 m,
      bearing: 228.410203 deg,
      approach rate: -0.370348 m/s,
      LOS rate: -0.248051 deg/s,
      cmd heading: 215.999050 deg,
      new cmd heading: 215.812027 deg.

2025-09-20T00:07:35.825Z,1758326855.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766630 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:36.049Z,1758326856.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762504
2025-09-20T00:07:36.238Z,1758326856.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:36.245Z,1758326856.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 9.205717 m,
      bearing: 228.316082 deg,
      approach rate: -0.353709 m/s,
      LOS rate: -0.228952 deg/s,
      cmd heading: 215.812026 deg,
      new cmd heading: 215.620762 deg.

2025-09-20T00:07:36.246Z,1758326856.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763292 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:36.302Z,1758326856.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015528
2025-09-20T00:07:36.553Z,1758326856.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266650
2025-09-20T00:07:36.687Z,1758326856.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.47 m.
2025-09-20T00:07:36.690Z,1758326856.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.472224 m,
      nav range: 9.024070 m,
      bearing: 228.168869 deg,
      approach rate: -0.404171 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 215.620767 deg,
      new cmd heading: 215.320418 deg.

2025-09-20T00:07:36.691Z,1758326856.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758050 target range: 10.472224 and range: 10.50 m.
2025-09-20T00:07:36.806Z,1758326856.806 [DAT](INFO): DAT read: Rx Time:00:07:37.7014 

2025-09-20T00:07:36.806Z,1758326856.806 [DAT](INFO): Rx dataTimestamp_ set to:1758326856.805794
2025-09-20T00:07:36.807Z,1758326856.807 [DAT](INFO): DAT read: Bearing  11.5,   8.8 (Local)

2025-09-20T00:07:36.808Z,1758326856.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,   8.8 (Local)

2025-09-20T00:07:36.810Z,1758326856.810 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed 0.3

2025-09-20T00:07:36.815Z,1758326856.815 [DAT](INFO): DAT read: 00:07:37.7014 LVL= 22064, 28033, 24562, 32035, AGC= 50, IDX= 283,-0.32,-2.981, 1.475, 3.139, 3.033, PHS= 0.371,-1.513, 0.062, RAW= 141.2,  12.3, CAL= 140.6,  13.3, ROT=   9.4, -13.3

2025-09-20T00:07:36.816Z,1758326856.816 [DAT](INFO): got valid direction response:
 00:07:37.7014 LVL= 22064, 28033, 24562, 32035, AGC= 50, IDX= 283,-0.32,-2.981, 1.475, 3.139, 3.033, PHS= 0.371,-1.513, 0.062, RAW= 141.2,  12.3, CAL= 140.6,  13.3, ROT=   9.4, -13.3

2025-09-20T00:07:36.816Z,1758326856.816 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T00:07:36.817Z,1758326856.817 [DAT](INFO): direction in FSK: [0.960111,0.158945,0.230050]
2025-09-20T00:07:36.817Z,1758326856.817 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:36.822Z,1758326856.822 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.535202
2025-09-20T00:07:37.058Z,1758326857.058 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770874
2025-09-20T00:07:37.148Z,1758326857.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 3.274470 s,
      deltaX: -1.300000 m,
      approachRate: -0.397011 m/s,
      rangeRepo size: 4

2025-09-20T00:07:37.150Z,1758326857.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.175653 m,
      bearing: 232.916867 deg,
      lat: 36.779383 deg,
      lon: -121.859723 deg,
      deltaT: 3.274470 s,
      deltaX: -1.296572 m,
      approachRate: -0.395964 m/s,
      posRepo size: 4

2025-09-20T00:07:37.150Z,1758326857.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.18 m.
2025-09-20T00:07:37.151Z,1758326857.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.20 m.
2025-09-20T00:07:37.151Z,1758326857.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-09-20T00:07:37.154Z,1758326857.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 8.847566 m,
      bearing: 229.036845 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 215.320416 deg,
      new cmd heading: 215.013139 deg.

2025-09-20T00:07:37.155Z,1758326857.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752687 target range: 9.175653 and range: 9.20 m.
2025-09-20T00:07:37.310Z,1758326857.310 [DAT](INFO): DAT read: Rx Time:00:07:38.2012 

2025-09-20T00:07:37.310Z,1758326857.310 [DAT](INFO): Rx dataTimestamp_ set to:1758326857.309800
2025-09-20T00:07:37.311Z,1758326857.311 [DAT](INFO): DAT read: Bearing  10.8,   8.8 (Local)

2025-09-20T00:07:37.312Z,1758326857.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.8,   8.8 (Local)

2025-09-20T00:07:37.314Z,1758326857.314 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.3

2025-09-20T00:07:37.324Z,1758326857.324 [DAT](INFO): DAT read: 00:07:38.2012 LVL= 21616, 31857, 22434, 31731, AGC= 49, IDX= 504, 0.46,-2.667, 1.761,-2.835,-2.950, PHS= 0.385,-1.527, 0.071, RAW= 141.2,  12.0, CAL= 140.6,  13.0, ROT=   9.4, -13.0

2025-09-20T00:07:37.325Z,1758326857.325 [DAT](INFO): got valid direction response:
 00:07:38.2012 LVL= 21616, 31857, 22434, 31731, AGC= 49, IDX= 504, 0.46,-2.667, 1.761,-2.835,-2.950, PHS= 0.385,-1.527, 0.071, RAW= 141.2,  12.0, CAL= 140.6,  13.0, ROT=   9.4, -13.0

2025-09-20T00:07:37.325Z,1758326857.325 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-20T00:07:37.326Z,1758326857.326 [DAT](INFO): direction in FSK: [0.961286,0.159140,0.224951]
2025-09-20T00:07:37.326Z,1758326857.326 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:37.342Z,1758326857.342 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.055811
2025-09-20T00:07:37.565Z,1758326857.565 [DAT](INFO): DAT read: Rx Time:00:07:38.7012 

2025-09-20T00:07:37.567Z,1758326857.567 [DAT](INFO): Rx dataTimestamp_ set to:1758326857.565553
2025-09-20T00:07:37.569Z,1758326857.569 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.282302
2025-09-20T00:07:37.626Z,1758326857.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504006 s,
      deltaX: -0.300000 m,
      approachRate: -0.595231 m/s,
      rangeRepo size: 4

2025-09-20T00:07:37.652Z,1758326857.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.876447 m,
      bearing: 232.894130 deg,
      lat: 36.779384 deg,
      lon: -121.859725 deg,
      deltaT: 0.504006 s,
      deltaX: -0.299206 m,
      approachRate: -0.593655 m/s,
      posRepo size: 4

2025-09-20T00:07:37.653Z,1758326857.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.88 m. 9.18 m.
2025-09-20T00:07:37.658Z,1758326857.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 8.693059 m,
      bearing: 228.906139 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 215.013139 deg,
      new cmd heading: 214.693621 deg.

2025-09-20T00:07:37.659Z,1758326857.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747111 target range: 9.175653 and range: 8.90 m.
2025-09-20T00:07:37.814Z,1758326857.814 [DAT](INFO): DAT read: Bearing  10.1,   9.4 (Local)

2025-09-20T00:07:37.814Z,1758326857.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,   9.4 (Local)

2025-09-20T00:07:37.821Z,1758326857.821 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.3

2025-09-20T00:07:37.826Z,1758326857.826 [DAT](INFO): DAT read: 00:07:38.7012 LVL= 26144, 32753, 23266, 32755, AGC= 49, IDX= 504, 0.28,-0.785,-2.636,-0.973,-1.081, PHS= 0.398,-1.510, 0.064, RAW= 140.6,  11.8, CAL= 139.9,  12.8, ROT=  10.1, -12.8

2025-09-20T00:07:37.827Z,1758326857.827 [DAT](INFO): got valid direction response:
 00:07:38.7012 LVL= 26144, 32753, 23266, 32755, AGC= 49, IDX= 504, 0.28,-0.785,-2.636,-0.973,-1.081, PHS= 0.398,-1.510, 0.064, RAW= 140.6,  11.8, CAL= 139.9,  12.8, ROT=  10.1, -12.8

2025-09-20T00:07:37.827Z,1758326857.827 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-09-20T00:07:37.828Z,1758326857.828 [DAT](INFO): direction in FSK: [0.960038,0.171009,0.221548]
2025-09-20T00:07:37.828Z,1758326857.828 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:37.832Z,1758326857.832 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.545724
2025-09-20T00:07:38.069Z,1758326858.069 [DAT](INFO): DAT read: Rx Time:00:07:39.2010 

2025-09-20T00:07:38.070Z,1758326858.070 [DAT](INFO): Rx dataTimestamp_ set to:1758326858.069346
2025-09-20T00:07:38.074Z,1758326858.074 [DAT](INFO): DAT read: Bearing   9.6,   9.4 (Local)

2025-09-20T00:07:38.075Z,1758326858.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.6,   9.4 (Local)

2025-09-20T00:07:38.078Z,1758326858.078 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.790523
2025-09-20T00:07:38.213Z,1758326858.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.502755 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:38.223Z,1758326858.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.876437 m,
      bearing: 232.705230 deg,
      lat: 36.779386 deg,
      lon: -121.859727 deg,
      deltaT: 1.006761 s,
      deltaX: -0.299215 m,
      approachRate: -0.297206 m/s,
      posRepo size: 4

2025-09-20T00:07:38.228Z,1758326858.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.88 m. 9.18 m.
2025-09-20T00:07:38.236Z,1758326858.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 8.449603 m,
      bearing: 228.715278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 214.693623 deg,
      new cmd heading: 214.310126 deg.

2025-09-20T00:07:38.237Z,1758326858.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740417 target range: 9.175653 and range: 8.90 m.
2025-09-20T00:07:38.319Z,1758326858.319 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed 0.3

2025-09-20T00:07:38.325Z,1758326858.325 [DAT](INFO): DAT read: 00:07:39.2010 LVL= 23216, 31953, 24866, 32755, AGC= 50, IDX= 502, 0.12,-1.368, 3.035,-1.559,-1.666, PHS= 0.400,-1.537, 0.063, RAW= 140.6,  12.0, CAL= 140.0,  12.9, ROT=  10.0, -12.9

2025-09-20T00:07:38.327Z,1758326858.327 [DAT](INFO): got valid direction response:
 00:07:39.2010 LVL= 23216, 31953, 24866, 32755, AGC= 50, IDX= 502, 0.12,-1.368, 3.035,-1.559,-1.666, PHS= 0.400,-1.537, 0.063, RAW= 140.6,  12.0, CAL= 140.0,  12.9, ROT=  10.0, -12.9

2025-09-20T00:07:38.327Z,1758326858.327 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-09-20T00:07:38.329Z,1758326858.329 [DAT](INFO): direction in FSK: [0.959952,0.169266,0.223250]
2025-09-20T00:07:38.329Z,1758326858.329 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:38.334Z,1758326858.334 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047625
2025-09-20T00:07:38.573Z,1758326858.573 [DAT](INFO): DAT read: Rx Time:00:07:39.7009 

2025-09-20T00:07:38.575Z,1758326858.575 [DAT](INFO): Rx dataTimestamp_ set to:1758326858.573901
2025-09-20T00:07:38.579Z,1758326858.579 [DAT](INFO): DAT read: Bearing   9.5,  10.0 (Local)

2025-09-20T00:07:38.580Z,1758326858.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.5,  10.0 (Local)

2025-09-20T00:07:38.593Z,1758326858.593 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.3

2025-09-20T00:07:38.605Z,1758326858.605 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-09-20T00:07:38.617Z,1758326858.617 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.329863
2025-09-20T00:07:38.729Z,1758326858.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.761346 s,
      deltaX: -0.500000 m,
      approachRate: -0.656732 m/s,
      rangeRepo size: 4

2025-09-20T00:07:38.737Z,1758326858.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.377761 m,
      bearing: 232.174862 deg,
      lat: 36.779387 deg,
      lon: -121.859727 deg,
      deltaT: 1.768107 s,
      deltaX: -0.797892 m,
      approachRate: -0.451269 m/s,
      posRepo size: 4

2025-09-20T00:07:38.738Z,1758326858.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.38 m. 9.18 m.
2025-09-20T00:07:38.746Z,1758326858.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 8.266584 m,
      bearing: 228.557040 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 214.310122 deg,
      new cmd heading: 213.962144 deg.

2025-09-20T00:07:38.747Z,1758326858.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734344 target range: 9.175653 and range: 8.40 m.
2025-09-20T00:07:38.827Z,1758326858.827 [DAT](INFO): DAT read: 00:07:39.7009 LVL= 22672, 32593, 23538, 32291, AGC= 50, IDX= 501,-0.01,-2.413, 1.988,-2.623,-2.709, PHS= 0.398,-1.541, 0.041, RAW= 140.1,  12.3, CAL= 139.4,  13.3, ROT=  10.6, -13.3

2025-09-20T00:07:38.829Z,1758326858.829 [DAT](INFO): got valid direction response:
 00:07:39.7009 LVL= 22672, 32593, 23538, 32291, AGC= 50, IDX= 501,-0.01,-2.413, 1.988,-2.623,-2.709, PHS= 0.398,-1.541, 0.041, RAW= 140.1,  12.3, CAL= 139.4,  13.3, ROT=  10.6, -13.3

2025-09-20T00:07:38.830Z,1758326858.830 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-09-20T00:07:38.831Z,1758326858.831 [DAT](INFO): direction in FSK: [0.956572,0.179018,0.230050]
2025-09-20T00:07:38.834Z,1758326858.834 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.547878
2025-09-20T00:07:39.077Z,1758326859.077 [DAT](INFO): DAT read: Rx Time:00:07:40.2006 

2025-09-20T00:07:39.079Z,1758326859.079 [DAT](INFO): Rx dataTimestamp_ set to:1758326859.077452
2025-09-20T00:07:39.082Z,1758326859.082 [DAT](INFO): DAT read: Bearing   9.2,  10.1 (Local)

2025-09-20T00:07:39.086Z,1758326859.086 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  10.1 (Local)

2025-09-20T00:07:39.091Z,1758326859.091 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.3

2025-09-20T00:07:39.094Z,1758326859.094 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-09-20T00:07:39.098Z,1758326859.098 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.810797
2025-09-20T00:07:39.237Z,1758326859.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.503551 s,
      deltaX: -0.400000 m,
      approachRate: -0.794358 m/s,
      rangeRepo size: 4

2025-09-20T00:07:39.239Z,1758326859.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.978757 m,
      bearing: 231.900290 deg,
      lat: 36.779388 deg,
      lon: -121.859727 deg,
      deltaT: 2.271658 s,
      deltaX: -1.196895 m,
      approachRate: -0.526882 m/s,
      posRepo size: 4

2025-09-20T00:07:39.240Z,1758326859.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.98 m. 9.18 m.
2025-09-20T00:07:39.243Z,1758326859.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 8.068460 m,
      bearing: 228.399167 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 213.962137 deg,
      new cmd heading: 213.616990 deg.

2025-09-20T00:07:39.243Z,1758326859.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728320 target range: 9.175653 and range: 8.00 m.
2025-09-20T00:07:39.329Z,1758326859.329 [DAT](INFO): DAT read: 00:07:40.2006 LVL= 23104, 31905, 23234, 32755, AGC= 50, IDX= 499,-0.14, 2.414, 0.525, 2.200, 2.121, PHS= 0.395,-1.552, 0.034, RAW= 140.0,  12.5, CAL= 139.3,  13.5, ROT=  10.7, -13.5

2025-09-20T00:07:39.330Z,1758326859.330 [DAT](INFO): got valid direction response:
 00:07:40.2006 LVL= 23104, 31905, 23234, 32755, AGC= 50, IDX= 499,-0.14, 2.414, 0.525, 2.200, 2.121, PHS= 0.395,-1.552, 0.034, RAW= 140.0,  12.5, CAL= 139.3,  13.5, ROT=  10.7, -13.5

2025-09-20T00:07:39.330Z,1758326859.330 [DAT](INFO): #Rx 8: Read direction message, but no range.
2025-09-20T00:07:39.331Z,1758326859.331 [DAT](INFO): direction in FSK: [0.955463,0.180537,0.233445]
2025-09-20T00:07:39.335Z,1758326859.335 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.048396
2025-09-20T00:07:39.581Z,1758326859.581 [DAT](INFO): DAT read: Rx Time:00:07:40.7006 

2025-09-20T00:07:39.583Z,1758326859.583 [DAT](INFO): Rx dataTimestamp_ set to:1758326859.581739
2025-09-20T00:07:39.587Z,1758326859.587 [DAT](INFO): DAT read: Bearing   8.8,  10.1 (Local)

2025-09-20T00:07:39.589Z,1758326859.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  10.1 (Local)

2025-09-20T00:07:39.595Z,1758326859.595 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.3

2025-09-20T00:07:39.598Z,1758326859.598 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-09-20T00:07:39.602Z,1758326859.602 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.315000
2025-09-20T00:07:39.754Z,1758326859.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504287 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:39.761Z,1758326859.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.978757 m,
      bearing: 231.589528 deg,
      lat: 36.779388 deg,
      lon: -121.859726 deg,
      deltaT: 2.775945 s,
      deltaX: -1.196895 m,
      approachRate: -0.431167 m/s,
      posRepo size: 4

2025-09-20T00:07:39.762Z,1758326859.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.98 m. 9.18 m.
2025-09-20T00:07:39.769Z,1758326859.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 7.883067 m,
      bearing: 228.283759 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 213.616994 deg,
      new cmd heading: 213.271465 deg.

2025-09-20T00:07:39.770Z,1758326859.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722289 target range: 9.175653 and range: 8.00 m.
2025-09-20T00:07:39.833Z,1758326859.833 [DAT](INFO): DAT read: 00:07:40.7006 LVL= 27808, 32753, 23538, 32755, AGC= 49, IDX= 499,-0.23, 2.796, 0.933, 2.584, 2.510, PHS= 0.388,-1.532, 0.030, RAW= 139.9,  12.6, CAL= 139.2,  13.6, ROT=  10.8, -13.6

2025-09-20T00:07:39.834Z,1758326859.834 [DAT](INFO): got valid direction response:
 00:07:40.7006 LVL= 27808, 32753, 23538, 32755, AGC= 49, IDX= 499,-0.23, 2.796, 0.933, 2.584, 2.510, PHS= 0.388,-1.532, 0.030, RAW= 139.9,  12.6, CAL= 139.2,  13.6, ROT=  10.8, -13.6

2025-09-20T00:07:39.834Z,1758326859.834 [DAT](INFO): #Rx 10: Read direction message, but no range.
2025-09-20T00:07:39.835Z,1758326859.835 [DAT](INFO): direction in FSK: [0.954745,0.182127,0.235142]
2025-09-20T00:07:39.838Z,1758326859.838 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.552128
2025-09-20T00:07:40.086Z,1758326860.086 [DAT](INFO): DAT read: Rx Time:00:07:41.2004 

2025-09-20T00:07:40.088Z,1758326860.088 [DAT](INFO): Rx dataTimestamp_ set to:1758326860.086915
2025-09-20T00:07:40.092Z,1758326860.092 [DAT](INFO): DAT read: Bearing   8.3,   9.5 (Local)

2025-09-20T00:07:40.103Z,1758326860.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,   9.5 (Local)

2025-09-20T00:07:40.144Z,1758326860.144 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.3

2025-09-20T00:07:40.161Z,1758326860.161 [DAT](INFO): DAT read: 00:07:41.2004 LVL= 22048, 30081, 23170, 30227, AGC= 48, IDX= 497,-0.32, 1.651,-0.240, 1.456, 1.369, PHS= 0.384,-1.564, 0.043, RAW= 140.6,  12.6, CAL= 139.9,  13.6, ROT=  10.1, -13.6

2025-09-20T00:07:40.162Z,1758326860.162 [DAT](INFO): got valid direction response:
 00:07:41.2004 LVL= 22048, 30081, 23170, 30227, AGC= 48, IDX= 497,-0.32, 1.651,-0.240, 1.456, 1.369, PHS= 0.384,-1.564, 0.043, RAW= 140.6,  12.6, CAL= 139.9,  13.6, ROT=  10.1, -13.6

2025-09-20T00:07:40.163Z,1758326860.163 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-09-20T00:07:40.163Z,1758326860.163 [DAT](INFO): direction in FSK: [0.956899,0.170450,0.235142]
2025-09-20T00:07:40.172Z,1758326860.172 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:40.175Z,1758326860.175 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=5.889047
2025-09-20T00:07:40.266Z,1758326860.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.505176 s,
      deltaX: -0.300000 m,
      approachRate: -0.593853 m/s,
      rangeRepo size: 4

2025-09-20T00:07:40.268Z,1758326860.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.679579 m,
      bearing: 230.584710 deg,
      lat: 36.779387 deg,
      lon: -121.859725 deg,
      deltaT: 3.281121 s,
      deltaX: -1.496074 m,
      approachRate: -0.455964 m/s,
      posRepo size: 4

2025-09-20T00:07:40.273Z,1758326860.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.68 m. 9.18 m.
2025-09-20T00:07:40.275Z,1758326860.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 7.698656 m,
      bearing: 228.173308 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 213.271468 deg,
      new cmd heading: 212.929397 deg.

2025-09-20T00:07:40.280Z,1758326860.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.716319 target range: 9.175653 and range: 7.70 m.
2025-09-20T00:07:40.334Z,1758326860.334 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.047360
2025-09-20T00:07:40.589Z,1758326860.589 [DAT](INFO): DAT read: Rx Time:00:07:41.7004 

2025-09-20T00:07:40.591Z,1758326860.591 [DAT](INFO): Rx dataTimestamp_ set to:1758326860.589601
2025-09-20T00:07:40.595Z,1758326860.595 [DAT](INFO): DAT read: Bearing   9.6,  10.1 (Local)

2025-09-20T00:07:40.596Z,1758326860.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.6,  10.1 (Local)

2025-09-20T00:07:40.603Z,1758326860.603 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.3

2025-09-20T00:07:40.605Z,1758326860.605 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-09-20T00:07:40.622Z,1758326860.622 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.335059
2025-09-20T00:07:40.751Z,1758326860.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:40.759Z,1758326860.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.502686 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:40.769Z,1758326860.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.18 m. 9.18 m.
2025-09-20T00:07:40.771Z,1758326860.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 7.515399 m,
      bearing: 228.148967 deg,
      approach rate: -0.371074 m/s,
      LOS rate: -0.050489 deg/s,
      cmd heading: 212.929399 deg,
      new cmd heading: 212.879530 deg.

2025-09-20T00:07:40.772Z,1758326860.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715449 target range: 9.175653 and range: 7.70 m.
2025-09-20T00:07:40.842Z,1758326860.842 [DAT](INFO): DAT read: 00:07:41.7004 LVL= 23216, 28849, 22114, 32755, AGC= 47, IDX= 513,-0.39, 2.434, 0.173, 2.142, 2.124, PHS= 0.412,-1.907,-0.026, RAW= 139.8,  14.1, CAL= 139.0,  15.2, ROT=  11.0, -15.2

2025-09-20T00:07:40.843Z,1758326860.843 [DAT](INFO): got valid direction response:
 00:07:41.7004 LVL= 23216, 28849, 22114, 32755, AGC= 47, IDX= 513,-0.39, 2.434, 0.173, 2.142, 2.124, PHS= 0.412,-1.907,-0.026, RAW= 139.8,  14.1, CAL= 139.0,  15.2, ROT=  11.0, -15.2

2025-09-20T00:07:40.844Z,1758326860.844 [DAT](INFO): #Rx 13: Read direction message, but no range.
2025-09-20T00:07:40.845Z,1758326860.845 [DAT](INFO): direction in FSK: [0.947286,0.184134,0.262189]
2025-09-20T00:07:40.851Z,1758326860.851 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.564033
2025-09-20T00:07:41.096Z,1758326861.096 [DAT](INFO): DAT read: Rx Time:00:07:42.2002 

2025-09-20T00:07:41.098Z,1758326861.098 [DAT](INFO): Rx dataTimestamp_ set to:1758326861.096726
2025-09-20T00:07:41.102Z,1758326861.102 [DAT](INFO): DAT read: Bearing   7.6,   8.5 (Local)

2025-09-20T00:07:41.103Z,1758326861.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.6,   8.5 (Local)

2025-09-20T00:07:41.116Z,1758326861.116 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.3

2025-09-20T00:07:41.129Z,1758326861.129 [DAT](INFO): DAT read: 00:07:42.2002 LVL= 26928, 31105, 25778, 32755, AGC= 47, IDX= 510, 0.47, 2.165, 0.281, 1.997, 1.902, PHS= 0.364,-1.577, 0.051, RAW= 141.3,  12.8, CAL= 140.7,  13.9, ROT=   9.3, -13.9

2025-09-20T00:07:41.130Z,1758326861.130 [DAT](INFO): got valid direction response:
 00:07:42.2002 LVL= 26928, 31105, 25778, 32755, AGC= 47, IDX= 510, 0.47, 2.165, 0.281, 1.997, 1.902, PHS= 0.364,-1.577, 0.051, RAW= 141.3,  12.8, CAL= 140.7,  13.9, ROT=   9.3, -13.9

2025-09-20T00:07:41.130Z,1758326861.130 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-09-20T00:07:41.131Z,1758326861.131 [DAT](INFO): direction in FSK: [0.957957,0.156871,0.240228]
2025-09-20T00:07:41.131Z,1758326861.131 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:41.171Z,1758326861.171 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=6.884501
2025-09-20T00:07:41.256Z,1758326861.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.507125 s,
      deltaX: -0.300000 m,
      approachRate: -0.591570 m/s,
      rangeRepo size: 4

2025-09-20T00:07:41.262Z,1758326861.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.380401 m,
      bearing: 228.742925 deg,
      lat: 36.779387 deg,
      lon: -121.859724 deg,
      deltaT: 4.290932 s,
      deltaX: -1.795251 m,
      approachRate: -0.418383 m/s,
      posRepo size: 4

2025-09-20T00:07:41.263Z,1758326861.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.38 m. 9.18 m.
2025-09-20T00:07:41.270Z,1758326861.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 7.343969 m,
      bearing: 228.133863 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 212.879525 deg,
      new cmd heading: 212.547980 deg.

2025-09-20T00:07:41.271Z,1758326861.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.709662 target range: 9.175653 and range: 7.40 m.
2025-09-20T00:07:41.342Z,1758326861.342 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.055430
2025-09-20T00:07:41.598Z,1758326861.598 [DAT](INFO): DAT read: Rx Time:00:07:42.7002 

2025-09-20T00:07:41.600Z,1758326861.600 [DAT](INFO): Rx dataTimestamp_ set to:1758326861.598509
2025-09-20T00:07:41.604Z,1758326861.604 [DAT](INFO): DAT read: Bearing   7.0,   7.8 (Local)

2025-09-20T00:07:41.605Z,1758326861.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.0,   7.8 (Local)

2025-09-20T00:07:41.614Z,1758326861.614 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.3

2025-09-20T00:07:41.654Z,1758326861.654 [DAT](INFO): DAT read: 00:07:42.7002 LVL= 23536, 30097, 23442, 32755, AGC= 46, IDX= 510, 0.34,-2.448, 1.949,-2.597,-2.706, PHS= 0.360,-1.583, 0.065, RAW= 141.9,  12.7, CAL= 141.3,  13.8, ROT=   8.7, -13.8

2025-09-20T00:07:41.655Z,1758326861.655 [DAT](INFO): got valid direction response:
 00:07:42.7002 LVL= 23536, 30097, 23442, 32755, AGC= 46, IDX= 510, 0.34,-2.448, 1.949,-2.597,-2.706, PHS= 0.360,-1.583, 0.065, RAW= 141.9,  12.7, CAL= 141.3,  13.8, ROT=   8.7, -13.8

2025-09-20T00:07:41.664Z,1758326861.664 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-09-20T00:07:41.665Z,1758326861.665 [DAT](INFO): direction in FSK: [0.959960,0.146895,0.238533]
2025-09-20T00:07:41.665Z,1758326861.665 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:41.681Z,1758326861.681 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.394520
2025-09-20T00:07:41.762Z,1758326861.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.501783 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:41.764Z,1758326861.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.380401 m,
      bearing: 228.136733 deg,
      lat: 36.779387 deg,
      lon: -121.859724 deg,
      deltaT: 4.792715 s,
      deltaX: -1.795251 m,
      approachRate: -0.374579 m/s,
      posRepo size: 4

2025-09-20T00:07:41.765Z,1758326861.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.38 m. 9.18 m.
2025-09-20T00:07:41.776Z,1758326861.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 7.162979 m,
      bearing: 228.164619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 212.547974 deg,
      new cmd heading: 212.209648 deg.

2025-09-20T00:07:41.785Z,1758326861.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.703757 target range: 9.175653 and range: 7.40 m.
2025-09-20T00:07:41.846Z,1758326861.846 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.559490
2025-09-20T00:07:42.102Z,1758326862.102 [DAT](INFO): DAT read: Rx Time:00:07:43.2000 

2025-09-20T00:07:42.104Z,1758326862.104 [DAT](INFO): Rx dataTimestamp_ set to:1758326862.102644
2025-09-20T00:07:42.108Z,1758326862.108 [DAT](INFO): DAT read: Bearing   6.7,   7.3 (Local)

2025-09-20T00:07:42.110Z,1758326862.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.7,   7.3 (Local)

2025-09-20T00:07:42.129Z,1758326862.129 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.3

2025-09-20T00:07:42.154Z,1758326862.154 [DAT](INFO): DAT read: 00:07:43.2000 LVL= 22816, 29761, 22690, 32595, AGC= 47, IDX= 508, 0.27, 2.563, 0.658, 2.426, 2.310, PHS= 0.355,-1.607, 0.072, RAW= 142.3,  12.8, CAL= 141.8,  13.9, ROT=   8.2, -13.9

2025-09-20T00:07:42.155Z,1758326862.155 [DAT](INFO): got valid direction response:
 00:07:43.2000 LVL= 22816, 29761, 22690, 32595, AGC= 47, IDX= 508, 0.27, 2.563, 0.658, 2.426, 2.310, PHS= 0.355,-1.607, 0.072, RAW= 142.3,  12.8, CAL= 141.8,  13.9, ROT=   8.2, -13.9

2025-09-20T00:07:42.155Z,1758326862.155 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-09-20T00:07:42.169Z,1758326862.169 [DAT](INFO): direction in FSK: [0.960792,0.138452,0.240228]
2025-09-20T00:07:42.169Z,1758326862.169 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:42.181Z,1758326862.181 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=7.894297
2025-09-20T00:07:42.247Z,1758326862.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.504135 s,
      deltaX: -0.300000 m,
      approachRate: -0.595079 m/s,
      rangeRepo size: 4

2025-09-20T00:07:42.253Z,1758326862.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.081122 m,
      bearing: 227.110790 deg,
      lat: 36.779385 deg,
      lon: -121.859723 deg,
      deltaT: 5.296850 s,
      deltaX: -2.094530 m,
      approachRate: -0.395429 m/s,
      posRepo size: 4

2025-09-20T00:07:42.254Z,1758326862.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.08 m. 9.18 m.
2025-09-20T00:07:42.261Z,1758326862.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 6.989299 m,
      bearing: 228.209104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 212.209647 deg,
      new cmd heading: 211.885452 deg.

2025-09-20T00:07:42.262Z,1758326862.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.698099 target range: 9.175653 and range: 7.10 m.
2025-09-20T00:07:42.350Z,1758326862.350 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.063779
2025-09-20T00:07:42.606Z,1758326862.606 [DAT](INFO): DAT read: Rx Time:00:07:43.7000 

2025-09-20T00:07:42.607Z,1758326862.607 [DAT](INFO): Rx dataTimestamp_ set to:1758326862.605926
2025-09-20T00:07:42.611Z,1758326862.611 [DAT](INFO): DAT read: Bearing   6.5,   7.1 (Local)

2025-09-20T00:07:42.611Z,1758326862.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,   7.1 (Local)

2025-09-20T00:07:42.613Z,1758326862.613 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed 0.3

2025-09-20T00:07:42.642Z,1758326862.642 [DAT](INFO): DAT read: 00:07:43.7000 LVL= 26864, 31681, 24050, 32755, AGC= 47, IDX= 507, 0.24, 2.736, 0.832, 2.608, 2.496, PHS= 0.343,-1.619, 0.068, RAW= 142.6,  13.1, CAL= 142.0,  14.2, ROT=   8.0, -14.2

2025-09-20T00:07:42.643Z,1758326862.643 [DAT](INFO): got valid direction response:
 00:07:43.7000 LVL= 26864, 31681, 24050, 32755, AGC= 47, IDX= 507, 0.24, 2.736, 0.832, 2.608, 2.496, PHS= 0.343,-1.619, 0.068, RAW= 142.6,  13.1, CAL= 142.0,  14.2, ROT=   8.0, -14.2

2025-09-20T00:07:42.644Z,1758326862.644 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-09-20T00:07:42.665Z,1758326862.665 [DAT](INFO): direction in FSK: [0.960011,0.134921,0.245307]
2025-09-20T00:07:42.665Z,1758326862.665 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:42.673Z,1758326862.673 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.386467
2025-09-20T00:07:42.803Z,1758326862.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.503282 s,
      deltaX: -0.200000 m,
      approachRate: -0.397391 m/s,
      rangeRepo size: 4

2025-09-20T00:07:42.814Z,1758326862.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.881655 m,
      bearing: 226.232138 deg,
      lat: 36.779383 deg,
      lon: -121.859722 deg,
      deltaT: 5.800132 s,
      deltaX: -2.293998 m,
      approachRate: -0.395508 m/s,
      posRepo size: 4

2025-09-20T00:07:42.815Z,1758326862.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.88 m. 9.18 m.
2025-09-20T00:07:42.821Z,1758326862.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 6.780414 m,
      bearing: 228.364715 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 211.885459 deg,
      new cmd heading: 211.513623 deg.

2025-09-20T00:07:42.822Z,1758326862.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.691609 target range: 9.175653 and range: 6.90 m.
2025-09-20T00:07:42.853Z,1758326862.853 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.566745
2025-09-20T00:07:43.111Z,1758326863.111 [DAT](INFO): DAT read: Rx Time:00:07:44.1998 

2025-09-20T00:07:43.112Z,1758326863.112 [DAT](INFO): Rx dataTimestamp_ set to:1758326863.111280
2025-09-20T00:07:43.113Z,1758326863.113 [DAT](INFO): DAT read: Bearing   5.9,   7.1 (Local)

2025-09-20T00:07:43.113Z,1758326863.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9,   7.1 (Local)

2025-09-20T00:07:43.115Z,1758326863.115 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.3

2025-09-20T00:07:43.137Z,1758326863.137 [DAT](INFO): DAT read: 00:07:44.1998 LVL= 24496, 30577, 20850, 32755, AGC= 46, IDX= 505, 0.18, 1.876,-0.039, 1.748, 1.626, PHS= 0.352,-1.621, 0.077, RAW= 142.6,  12.8, CAL= 142.1,  13.9, ROT=   7.9, -13.9

2025-09-20T00:07:43.138Z,1758326863.138 [DAT](INFO): got valid direction response:
 00:07:44.1998 LVL= 24496, 30577, 20850, 32755, AGC= 46, IDX= 505, 0.18, 1.876,-0.039, 1.748, 1.626, PHS= 0.352,-1.621, 0.077, RAW= 142.6,  12.8, CAL= 142.1,  13.9, ROT=   7.9, -13.9

2025-09-20T00:07:43.139Z,1758326863.139 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-09-20T00:07:43.140Z,1758326863.140 [DAT](INFO): direction in FSK: [0.961504,0.133420,0.240228]
2025-09-20T00:07:43.140Z,1758326863.140 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:43.143Z,1758326863.143 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=8.857038
2025-09-20T00:07:43.242Z,1758326863.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.505354 s,
      deltaX: -0.300000 m,
      approachRate: -0.593644 m/s,
      rangeRepo size: 4

2025-09-20T00:07:43.248Z,1758326863.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.582497 m,
      bearing: 225.774927 deg,
      lat: 36.779383 deg,
      lon: -121.859721 deg,
      deltaT: 6.305486 s,
      deltaX: -2.593156 m,
      approachRate: -0.411254 m/s,
      posRepo size: 4

2025-09-20T00:07:43.249Z,1758326863.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.58 m. 9.18 m.
2025-09-20T00:07:43.257Z,1758326863.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 6.624382 m,
      bearing: 228.493587 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 211.513624 deg,
      new cmd heading: 211.220380 deg.

2025-09-20T00:07:43.258Z,1758326863.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.686491 target range: 9.175653 and range: 6.60 m.
2025-09-20T00:07:43.357Z,1758326863.357 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.070863
2025-09-20T00:07:43.612Z,1758326863.612 [DAT](INFO): DAT read: Rx Time:00:07:44.6998 

2025-09-20T00:07:43.612Z,1758326863.612 [DAT](INFO): Rx dataTimestamp_ set to:1758326863.612004
2025-09-20T00:07:43.614Z,1758326863.614 [DAT](INFO): DAT read: Bearing   5.4,   7.1 (Local)

2025-09-20T00:07:43.614Z,1758326863.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,   7.1 (Local)

2025-09-20T00:07:43.616Z,1758326863.616 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.3

2025-09-20T00:07:43.620Z,1758326863.620 [DAT](INFO): DAT read: 00:07:44.6998 LVL= 22336, 28593, 19490, 29539, AGC= 47, IDX= 505, 0.09,-2.970, 1.387,-3.099, 3.060, PHS= 0.355,-1.628, 0.080, RAW= 142.6,  12.8, CAL= 142.1,  13.8, ROT=   7.9, -13.8

2025-09-20T00:07:43.621Z,1758326863.621 [DAT](INFO): got valid direction response:
 00:07:44.6998 LVL= 22336, 28593, 19490, 29539, AGC= 47, IDX= 505, 0.09,-2.970, 1.387,-3.099, 3.060, PHS= 0.355,-1.628, 0.080, RAW= 142.6,  12.8, CAL= 142.1,  13.8, ROT=   7.9, -13.8

2025-09-20T00:07:43.622Z,1758326863.622 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-09-20T00:07:43.623Z,1758326863.623 [DAT](INFO): direction in FSK: [0.961918,0.133477,0.238533]
2025-09-20T00:07:43.623Z,1758326863.623 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:43.626Z,1758326863.626 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.340158
2025-09-20T00:07:43.861Z,1758326863.861 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.574657
2025-09-20T00:07:43.881Z,1758326863.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.500724 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:43.883Z,1758326863.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.582497 m,
      bearing: 225.429589 deg,
      lat: 36.779383 deg,
      lon: -121.859720 deg,
      deltaT: 6.806210 s,
      deltaX: -2.593156 m,
      approachRate: -0.380999 m/s,
      posRepo size: 4

2025-09-20T00:07:43.889Z,1758326863.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.58 m. 9.18 m.
2025-09-20T00:07:43.891Z,1758326863.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 6.387720 m,
      bearing: 228.854524 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 211.220376 deg,
      new cmd heading: 210.799068 deg.

2025-09-20T00:07:43.896Z,1758326863.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.679138 target range: 9.175653 and range: 6.60 m.
2025-09-20T00:07:44.116Z,1758326864.116 [DAT](INFO): DAT read: Rx Time:00:07:45.1996 

2025-09-20T00:07:44.116Z,1758326864.116 [DAT](INFO): Rx dataTimestamp_ set to:1758326864.115803
2025-09-20T00:07:44.117Z,1758326864.117 [DAT](INFO): DAT read: Bearing   5.2,   7.1 (Local)

2025-09-20T00:07:44.118Z,1758326864.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,   7.1 (Local)

2025-09-20T00:07:44.120Z,1758326864.120 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed 0.3

2025-09-20T00:07:44.124Z,1758326864.124 [DAT](INFO): DAT read: 00:07:45.1996 LVL= 23712, 28833, 19170, 31347, AGC= 48, IDX= 503, 0.02, 2.290, 0.350, 2.159, 2.039, PHS= 0.353,-1.644, 0.075, RAW= 142.6,  12.9, CAL= 142.1,  14.0, ROT=   7.9, -14.0

2025-09-20T00:07:44.125Z,1758326864.125 [DAT](INFO): got valid direction response:
 00:07:45.1996 LVL= 23712, 28833, 19170, 31347, AGC= 48, IDX= 503, 0.02, 2.290, 0.350, 2.159, 2.039, PHS= 0.353,-1.644, 0.075, RAW= 142.6,  12.9, CAL= 142.1,  14.0, ROT=   7.9, -14.0

2025-09-20T00:07:44.126Z,1758326864.126 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-09-20T00:07:44.127Z,1758326864.127 [DAT](INFO): direction in FSK: [0.961087,0.133362,0.241922]
2025-09-20T00:07:44.127Z,1758326864.127 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:44.135Z,1758326864.135 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=9.848351
2025-09-20T00:07:44.365Z,1758326864.365 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.078585
2025-09-20T00:07:44.413Z,1758326864.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503799 s,
      deltaX: -0.300000 m,
      approachRate: -0.595475 m/s,
      rangeRepo size: 4

2025-09-20T00:07:44.415Z,1758326864.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.283288 m,
      bearing: 225.440825 deg,
      lat: 36.779382 deg,
      lon: -121.859720 deg,
      deltaT: 7.310009 s,
      deltaX: -2.892365 m,
      approachRate: -0.395672 m/s,
      posRepo size: 4

2025-09-20T00:07:44.416Z,1758326864.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.28 m. 9.18 m.
2025-09-20T00:07:44.419Z,1758326864.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 6.187241 m,
      bearing: 229.182226 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 210.799063 deg,
      new cmd heading: 210.437682 deg.

2025-09-20T00:07:44.420Z,1758326864.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.672830 target range: 9.175653 and range: 6.30 m.
2025-09-20T00:07:44.619Z,1758326864.619 [DAT](INFO): DAT read: Rx Time:00:07:45.6996 

2025-09-20T00:07:44.619Z,1758326864.619 [DAT](INFO): Rx dataTimestamp_ set to:1758326864.619076
2025-09-20T00:07:44.621Z,1758326864.621 [DAT](INFO): DAT read: Bearing   5.1,   6.9 (Local)

2025-09-20T00:07:44.621Z,1758326864.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.1,   6.9 (Local)

2025-09-20T00:07:44.626Z,1758326864.626 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed 0.3

2025-09-20T00:07:44.641Z,1758326864.641 [DAT](INFO): DAT read: 00:07:45.6996 LVL= 24048, 27345, 17586, 31043, AGC= 48, IDX= 503,-0.04, 2.850, 0.905, 2.718, 2.605, PHS= 0.347,-1.655, 0.069, RAW= 142.6,  13.1, CAL= 142.1,  14.2, ROT=   7.9, -14.2

2025-09-20T00:07:44.642Z,1758326864.642 [DAT](INFO): got valid direction response:
 00:07:45.6996 LVL= 24048, 27345, 17586, 31043, AGC= 48, IDX= 503,-0.04, 2.850, 0.905, 2.718, 2.605, PHS= 0.347,-1.655, 0.069, RAW= 142.6,  13.1, CAL= 142.1,  14.2, ROT=   7.9, -14.2

2025-09-20T00:07:44.643Z,1758326864.643 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-09-20T00:07:44.648Z,1758326864.648 [DAT](INFO): direction in FSK: [0.960245,0.133245,0.245307]
2025-09-20T00:07:44.648Z,1758326864.648 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:44.652Z,1758326864.652 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.365192
2025-09-20T00:07:44.869Z,1758326864.869 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.582691
2025-09-20T00:07:44.899Z,1758326864.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503273 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:44.903Z,1758326864.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.283288 m,
      bearing: 224.813818 deg,
      lat: 36.779381 deg,
      lon: -121.859720 deg,
      deltaT: 7.813282 s,
      deltaX: -2.892365 m,
      approachRate: -0.370186 m/s,
      posRepo size: 4

2025-09-20T00:07:44.904Z,1758326864.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.28 m. 9.18 m.
2025-09-20T00:07:44.907Z,1758326864.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 6.017627 m,
      bearing: 229.510363 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 210.437678 deg,
      new cmd heading: 210.113215 deg.

2025-09-20T00:07:44.907Z,1758326864.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.667167 target range: 9.175653 and range: 6.30 m.
2025-09-20T00:07:45.121Z,1758326865.121 [DAT](INFO): DAT read: Rx Time:00:07:46.1994 

2025-09-20T00:07:45.122Z,1758326865.122 [DAT](INFO): Rx dataTimestamp_ set to:1758326865.121603
2025-09-20T00:07:45.123Z,1758326865.123 [DAT](INFO): DAT read: Bearing   4.9,   6.7 (Local)

2025-09-20T00:07:45.123Z,1758326865.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,   6.7 (Local)

2025-09-20T00:07:45.126Z,1758326865.126 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.3

2025-09-20T00:07:45.130Z,1758326865.130 [DAT](INFO): DAT read: 00:07:46.1994 LVL= 28016, 28113, 18898, 32755, AGC= 49, IDX= 501,-0.08, 1.767,-0.187, 1.638, 1.527, PHS= 0.342,-1.669, 0.068, RAW= 142.8,  13.3, CAL= 142.2,  14.4, ROT=   7.8, -14.4

2025-09-20T00:07:45.131Z,1758326865.131 [DAT](INFO): got valid direction response:
 00:07:46.1994 LVL= 28016, 28113, 18898, 32755, AGC= 49, IDX= 501,-0.08, 1.767,-0.187, 1.638, 1.527, PHS= 0.342,-1.669, 0.068, RAW= 142.8,  13.3, CAL= 142.2,  14.4, ROT=   7.8, -14.4

2025-09-20T00:07:45.133Z,1758326865.133 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-09-20T00:07:45.133Z,1758326865.133 [DAT](INFO): direction in FSK: [0.959622,0.131452,0.248690]
2025-09-20T00:07:45.134Z,1758326865.134 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:45.138Z,1758326865.138 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=10.851183
2025-09-20T00:07:45.294Z,1758326865.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.502527 s,
      deltaX: -0.100000 m,
      approachRate: -0.198995 m/s,
      rangeRepo size: 4

2025-09-20T00:07:45.300Z,1758326865.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.183552 m,
      bearing: 224.518525 deg,
      lat: 36.779381 deg,
      lon: -121.859720 deg,
      deltaT: 8.315809 s,
      deltaX: -2.992100 m,
      approachRate: -0.359809 m/s,
      posRepo size: 4

2025-09-20T00:07:45.301Z,1758326865.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.20 m.
2025-09-20T00:07:45.301Z,1758326865.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.18 m. 9.18 m.
2025-09-20T00:07:45.308Z,1758326865.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 5.887325 m,
      bearing: 229.780937 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 210.113216 deg,
      new cmd heading: 209.849329 deg.

2025-09-20T00:07:45.309Z,1758326865.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.662562 target range: 9.175653 and range: 6.20 m.
2025-09-20T00:07:45.374Z,1758326865.374 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.087565
2025-09-20T00:07:45.625Z,1758326865.625 [DAT](INFO): DAT read: Rx Time:00:07:46.6994 

2025-09-20T00:07:45.626Z,1758326865.626 [DAT](INFO): Rx dataTimestamp_ set to:1758326865.625640
2025-09-20T00:07:45.627Z,1758326865.627 [DAT](INFO): DAT read: Bearing   4.7,   6.7 (Local)

2025-09-20T00:07:45.627Z,1758326865.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,   6.7 (Local)

2025-09-20T00:07:45.630Z,1758326865.630 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.3

2025-09-20T00:07:45.634Z,1758326865.634 [DAT](INFO): DAT read: 00:07:46.6994 LVL= 29088, 28913, 18530, 32755, AGC= 49, IDX= 501,-0.13, 2.862, 0.895, 2.728, 2.624, PHS= 0.340,-1.684, 0.059, RAW= 142.6,  13.4, CAL= 142.1,  14.6, ROT=   7.9, -14.6

2025-09-20T00:07:45.635Z,1758326865.635 [DAT](INFO): got valid direction response:
 00:07:46.6994 LVL= 29088, 28913, 18530, 32755, AGC= 49, IDX= 501,-0.13, 2.862, 0.895, 2.728, 2.624, PHS= 0.340,-1.684, 0.059, RAW= 142.6,  13.4, CAL= 142.1,  14.6, ROT=   7.9, -14.6

2025-09-20T00:07:45.635Z,1758326865.635 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-09-20T00:07:45.637Z,1758326865.637 [DAT](INFO): direction in FSK: [0.958525,0.133006,0.252069]
2025-09-20T00:07:45.637Z,1758326865.637 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:45.640Z,1758326865.640 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.353980
2025-09-20T00:07:45.814Z,1758326865.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.504037 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:45.824Z,1758326865.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.183552 m,
      bearing: 224.329425 deg,
      lat: 36.779380 deg,
      lon: -121.859720 deg,
      deltaT: 8.819846 s,
      deltaX: -2.992100 m,
      approachRate: -0.339246 m/s,
      posRepo size: 4

2025-09-20T00:07:45.827Z,1758326865.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.20 m.
2025-09-20T00:07:45.830Z,1758326865.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.18 m. 9.18 m.
2025-09-20T00:07:45.841Z,1758326865.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 5.687532 m,
      bearing: 230.218426 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 209.849325 deg,
      new cmd heading: 209.501877 deg.

2025-09-20T00:07:45.842Z,1758326865.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.656497 target range: 9.175653 and range: 6.20 m.
2025-09-20T00:07:45.877Z,1758326865.877 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.590589
2025-09-20T00:07:46.130Z,1758326866.130 [DAT](INFO): DAT read: Rx Time:00:07:47.1992 

2025-09-20T00:07:46.130Z,1758326866.130 [DAT](INFO): Rx dataTimestamp_ set to:1758326866.129939
2025-09-20T00:07:46.131Z,1758326866.131 [DAT](INFO): DAT read: Bearing   4.6,   7.1 (Local)

2025-09-20T00:07:46.132Z,1758326866.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,   7.1 (Local)

2025-09-20T00:07:46.134Z,1758326866.134 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.3

2025-09-20T00:07:46.139Z,1758326866.139 [DAT](INFO): DAT read: 00:07:47.1992 LVL= 29760, 27585, 18834, 32755, AGC= 49, IDX= 499,-0.20, 1.541,-0.427, 1.392, 1.306, PHS= 0.337,-1.688, 0.042, RAW= 142.2,  13.7, CAL= 141.6,  14.8, ROT=   8.4, -14.8

2025-09-20T00:07:46.140Z,1758326866.140 [DAT](INFO): got valid direction response:
 00:07:47.1992 LVL= 29760, 27585, 18834, 32755, AGC= 49, IDX= 499,-0.20, 1.541,-0.427, 1.392, 1.306, PHS= 0.337,-1.688, 0.042, RAW= 142.2,  13.7, CAL= 141.6,  14.8, ROT=   8.4, -14.8

2025-09-20T00:07:46.140Z,1758326866.140 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-09-20T00:07:46.141Z,1758326866.141 [DAT](INFO): direction in FSK: [0.956452,0.141236,0.255446]
2025-09-20T00:07:46.141Z,1758326866.141 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:46.145Z,1758326866.145 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=11.858721
2025-09-20T00:07:46.295Z,1758326866.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.504299 s,
      deltaX: -0.300000 m,
      approachRate: -0.594885 m/s,
      rangeRepo size: 4

2025-09-20T00:07:46.297Z,1758326866.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.884351 m,
      bearing: 224.497785 deg,
      lat: 36.779379 deg,
      lon: -121.859720 deg,
      deltaT: 9.324145 s,
      deltaX: -3.291302 m,
      approachRate: -0.352987 m/s,
      posRepo size: 4

2025-09-20T00:07:46.298Z,1758326866.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.90 m.
2025-09-20T00:07:46.298Z,1758326866.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.88 m. 9.18 m.
2025-09-20T00:07:46.309Z,1758326866.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 5.517352 m,
      bearing: 230.625747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 209.501873 deg,
      new cmd heading: 209.187111 deg.

2025-09-20T00:07:46.310Z,1758326866.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651004 target range: 9.175653 and range: 5.90 m.
2025-09-20T00:07:46.381Z,1758326866.381 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.094800
2025-09-20T00:07:46.634Z,1758326866.634 [DAT](INFO): DAT read: Rx Time:00:07:47.6991 

2025-09-20T00:07:46.634Z,1758326866.634 [DAT](INFO): Rx dataTimestamp_ set to:1758326866.633752
2025-09-20T00:07:46.635Z,1758326866.635 [DAT](INFO): DAT read: Bearing   5.0,   7.7 (Local)

2025-09-20T00:07:46.636Z,1758326866.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,   7.7 (Local)

2025-09-20T00:07:46.638Z,1758326866.638 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.3

2025-09-20T00:07:46.642Z,1758326866.642 [DAT](INFO): DAT read: 00:07:47.6991 LVL= 31984, 29073, 19154, 32755, AGC= 49, IDX= 498,-0.25, 0.681,-1.250, 0.511, 0.464, PHS= 0.319,-1.669, 0.004, RAW= 141.5,  14.4, CAL= 140.8,  15.5, ROT=   9.2, -15.5

2025-09-20T00:07:46.643Z,1758326866.643 [DAT](INFO): got valid direction response:
 00:07:47.6991 LVL= 31984, 29073, 19154, 32755, AGC= 49, IDX= 498,-0.25, 0.681,-1.250, 0.511, 0.464, PHS= 0.319,-1.669, 0.004, RAW= 141.5,  14.4, CAL= 140.8,  15.5, ROT=   9.2, -15.5

2025-09-20T00:07:46.644Z,1758326866.644 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-09-20T00:07:46.645Z,1758326866.645 [DAT](INFO): direction in FSK: [0.951235,0.154066,0.267238]
2025-09-20T00:07:46.645Z,1758326866.645 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:46.650Z,1758326866.650 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.363216
2025-09-20T00:07:46.802Z,1758326866.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.503813 s,
      deltaX: -0.200000 m,
      approachRate: -0.396973 m/s,
      rangeRepo size: 4

2025-09-20T00:07:46.809Z,1758326866.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.684881 m,
      bearing: 224.741421 deg,
      lat: 36.779378 deg,
      lon: -121.859720 deg,
      deltaT: 9.827958 s,
      deltaX: -3.490771 m,
      approachRate: -0.355188 m/s,
      posRepo size: 4

2025-09-20T00:07:46.809Z,1758326866.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.70 m.
2025-09-20T00:07:46.810Z,1758326866.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.68 m. 9.18 m.
2025-09-20T00:07:46.817Z,1758326866.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 5.312242 m,
      bearing: 231.100990 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 209.187111 deg,
      new cmd heading: 208.841244 deg.

2025-09-20T00:07:46.818Z,1758326866.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.644967 target range: 9.175653 and range: 5.70 m.
2025-09-20T00:07:46.885Z,1758326866.885 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.598778
2025-09-20T00:07:47.138Z,1758326867.138 [DAT](INFO): DAT read: Rx Time:00:07:48.1989 

2025-09-20T00:07:47.138Z,1758326867.138 [DAT](INFO): Rx dataTimestamp_ set to:1758326867.137799
2025-09-20T00:07:47.139Z,1758326867.139 [DAT](INFO): DAT read: Bearing   5.1,   9.1 (Local)

2025-09-20T00:07:47.140Z,1758326867.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.1,   9.1 (Local)

2025-09-20T00:07:47.142Z,1758326867.142 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed 0.3

2025-09-20T00:07:47.146Z,1758326867.146 [DAT](INFO): DAT read: 00:07:48.1989 LVL= 30816, 32193, 19378, 32755, AGC= 49, IDX= 496,-0.29,-0.539,-2.449,-0.759,-0.766, PHS= 0.329,-1.638,-0.037, RAW= 139.9,  14.7, CAL= 139.1,  15.8, ROT=  10.9, -15.8

2025-09-20T00:07:47.147Z,1758326867.147 [DAT](INFO): got valid direction response:
 00:07:48.1989 LVL= 30816, 32193, 19378, 32755, AGC= 49, IDX= 496,-0.29,-0.539,-2.449,-0.759,-0.766, PHS= 0.329,-1.638,-0.037, RAW= 139.9,  14.7, CAL= 139.1,  15.8, ROT=  10.9, -15.8

2025-09-20T00:07:47.148Z,1758326867.148 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-09-20T00:07:47.149Z,1758326867.149 [DAT](INFO): direction in FSK: [0.944858,0.181951,0.272280]
2025-09-20T00:07:47.149Z,1758326867.149 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:47.197Z,1758326867.197 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=12.910809
2025-09-20T00:07:47.240Z,1758326867.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.504047 s,
      deltaX: -0.300000 m,
      approachRate: -0.595182 m/s,
      rangeRepo size: 4

2025-09-20T00:07:47.242Z,1758326867.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.385679 m,
      bearing: 226.146056 deg,
      lat: 36.779378 deg,
      lon: -121.859720 deg,
      deltaT: 10.332005 s,
      deltaX: -3.789973 m,
      approachRate: -0.366819 m/s,
      posRepo size: 4

2025-09-20T00:07:47.243Z,1758326867.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.39 m. 9.18 m.
2025-09-20T00:07:47.254Z,1758326867.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 5.157702 m,
      bearing: 231.494399 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 208.841244 deg,
      new cmd heading: 208.551460 deg.

2025-09-20T00:07:47.255Z,1758326867.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639910 target range: 9.175653 and range: 5.40 m.
2025-09-20T00:07:47.389Z,1758326867.389 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.102695
2025-09-20T00:07:47.642Z,1758326867.642 [DAT](INFO): DAT read: Rx Time:00:07:48.6989 

2025-09-20T00:07:47.642Z,1758326867.642 [DAT](INFO): Rx dataTimestamp_ set to:1758326867.641745
2025-09-20T00:07:47.643Z,1758326867.643 [DAT](INFO): DAT read: Bearing  10.6,  23.9 (Local)

2025-09-20T00:07:47.644Z,1758326867.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,  23.9 (Local)

2025-09-20T00:07:47.650Z,1758326867.650 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed 0.3

2025-09-20T00:07:47.654Z,1758326867.654 [DAT](INFO): DAT read: 00:07:48.6989 LVL= 31760, 32753, 21714, 32755, AGC= 49, IDX= 512,-0.35, 0.685,-1.354,-0.130, 0.317, PHS= 0.470,-1.626,-0.491, RAW= 122.7,  17.8, CAL= 122.6,  19.0, ROT=  27.4, -19.0

2025-09-20T00:07:47.655Z,1758326867.655 [DAT](INFO): got valid direction response:
 00:07:48.6989 LVL= 31760, 32753, 21714, 32755, AGC= 49, IDX= 512,-0.35, 0.685,-1.354,-0.130, 0.317, PHS= 0.470,-1.626,-0.491, RAW= 122.7,  17.8, CAL= 122.6,  19.0, ROT=  27.4, -19.0

2025-09-20T00:07:47.656Z,1758326867.656 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-09-20T00:07:47.657Z,1758326867.657 [DAT](INFO): direction in FSK: [0.839446,0.435127,0.325568]
2025-09-20T00:07:47.657Z,1758326867.657 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:47.675Z,1758326867.675 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.388820
2025-09-20T00:07:47.758Z,1758326867.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.503946 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:47.769Z,1758326867.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.385679 m,
      bearing: 242.310783 deg,
      lat: 36.779378 deg,
      lon: -121.859720 deg,
      deltaT: 10.835951 s,
      deltaX: -3.789973 m,
      approachRate: -0.349759 m/s,
      posRepo size: 4

2025-09-20T00:07:47.770Z,1758326867.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.39 m. 9.18 m.
2025-09-20T00:07:47.793Z,1758326867.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 4.973891 m,
      bearing: 231.948169 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 208.551466 deg,
      new cmd heading: 208.202664 deg.

2025-09-20T00:07:47.793Z,1758326867.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.633822 target range: 9.175653 and range: 5.40 m.
2025-09-20T00:07:47.894Z,1758326867.894 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.607326
2025-09-20T00:07:48.146Z,1758326868.146 [DAT](INFO): DAT read: Rx Time:00:07:49.1987 

2025-09-20T00:07:48.146Z,1758326868.146 [DAT](INFO): Rx dataTimestamp_ set to:1758326868.145727
2025-09-20T00:07:48.147Z,1758326868.147 [DAT](INFO): DAT read: Bearing   6.5,  16.2 (Local)

2025-09-20T00:07:48.148Z,1758326868.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  16.2 (Local)

2025-09-20T00:07:48.150Z,1758326868.150 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.3

2025-09-20T00:07:48.155Z,1758326868.155 [DAT](INFO): DAT read: 00:07:49.1987 LVL= 32688, 32753, 22146, 32755, AGC= 49, IDX= 510,-0.40,-0.305,-2.150,-0.750,-0.575, PHS= 0.371,-1.530,-0.219, RAW= 132.3,  16.1, CAL= 131.2,  17.2, ROT=  18.8, -17.2

2025-09-20T00:07:48.168Z,1758326868.168 [DAT](INFO): got valid direction response:
 00:07:49.1987 LVL= 32688, 32753, 22146, 32755, AGC= 49, IDX= 510,-0.40,-0.305,-2.150,-0.750,-0.575, PHS= 0.371,-1.530,-0.219, RAW= 132.3,  16.1, CAL= 131.2,  17.2, ROT=  18.8, -17.2

2025-09-20T00:07:48.169Z,1758326868.169 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-09-20T00:07:48.170Z,1758326868.170 [DAT](INFO): direction in FSK: [0.904314,0.307853,0.295708]
2025-09-20T00:07:48.170Z,1758326868.170 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:48.178Z,1758326868.178 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.891254
2025-09-20T00:07:48.213Z,1758326868.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.503982 s,
      deltaX: -0.300000 m,
      approachRate: -0.595260 m/s,
      rangeRepo size: 4

2025-09-20T00:07:48.215Z,1758326868.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.086432 m,
      bearing: 233.328378 deg,
      lat: 36.779380 deg,
      lon: -121.859720 deg,
      deltaT: 11.339933 s,
      deltaX: -4.089220 m,
      approachRate: -0.360604 m/s,
      posRepo size: 4

2025-09-20T00:07:48.225Z,1758326868.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.09 m. 9.18 m.
2025-09-20T00:07:48.233Z,1758326868.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 4.814370 m,
      bearing: 232.383129 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 208.202662 deg,
      new cmd heading: 207.898074 deg.

2025-09-20T00:07:48.234Z,1758326868.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.628506 target range: 9.175653 and range: 5.10 m.
2025-09-20T00:07:48.397Z,1758326868.397 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.111078
2025-09-20T00:07:48.650Z,1758326868.650 [DAT](INFO): DAT read: Rx Time:00:07:49.6987 

2025-09-20T00:07:48.650Z,1758326868.650 [DAT](INFO): Rx dataTimestamp_ set to:1758326868.649804
2025-09-20T00:07:48.651Z,1758326868.651 [DAT](INFO): DAT read: Bearing   9.5,  19.9 (Local)

2025-09-20T00:07:48.652Z,1758326868.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.5,  19.9 (Local)

2025-09-20T00:07:48.654Z,1758326868.654 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.3

2025-09-20T00:07:48.659Z,1758326868.659 [DAT](INFO): DAT read: 00:07:49.6987 LVL= 32752, 32753, 27570, 32755, AGC= 51, IDX= 509, 0.41,-3.084, 1.349, 2.608, 2.948, PHS= 0.353,-1.554,-0.384, RAW= 127.5,  18.6, CAL= 126.5,  19.7, ROT=  23.5, -19.7

2025-09-20T00:07:48.660Z,1758326868.660 [DAT](INFO): got valid direction response:
 00:07:49.6987 LVL= 32752, 32753, 27570, 32755, AGC= 51, IDX= 509, 0.41,-3.084, 1.349, 2.608, 2.948, PHS= 0.353,-1.554,-0.384, RAW= 127.5,  18.6, CAL= 126.5,  19.7, ROT=  23.5, -19.7

2025-09-20T00:07:48.660Z,1758326868.660 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-09-20T00:07:48.661Z,1758326868.661 [DAT](INFO): direction in FSK: [0.863385,0.375411,0.337095]
2025-09-20T00:07:48.661Z,1758326868.661 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:48.673Z,1758326868.673 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.386931
2025-09-20T00:07:48.713Z,1758326868.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.504077 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:48.715Z,1758326868.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.086432 m,
      bearing: 237.747904 deg,
      lat: 36.779383 deg,
      lon: -121.859725 deg,
      deltaT: 11.844010 s,
      deltaX: -4.089220 m,
      approachRate: -0.345256 m/s,
      posRepo size: 4

2025-09-20T00:07:48.717Z,1758326868.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.09 m. 9.18 m.
2025-09-20T00:07:48.719Z,1758326868.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 4.631022 m,
      bearing: 232.874354 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 207.898077 deg,
      new cmd heading: 207.567096 deg.

2025-09-20T00:07:48.729Z,1758326868.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622729 target range: 9.175653 and range: 5.10 m.
2025-09-20T00:07:48.901Z,1758326868.901 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.614792
2025-09-20T00:07:49.114Z,1758326869.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:49.121Z,1758326869.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.18 m. 9.18 m.
2025-09-20T00:07:49.123Z,1758326869.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 4.480510 m,
      bearing: 233.336297 deg,
      approach rate: -0.369005 m/s,
      LOS rate: 1.170554 deg/s,
      cmd heading: 207.567099 deg,
      new cmd heading: 208.521921 deg.

2025-09-20T00:07:49.128Z,1758326869.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639394 target range: 9.175653 and range: 5.10 m.
2025-09-20T00:07:49.154Z,1758326869.154 [DAT](INFO): DAT read: Rx Time:00:07:50.1985 

2025-09-20T00:07:49.154Z,1758326869.154 [DAT](INFO): Rx dataTimestamp_ set to:1758326869.153813
2025-09-20T00:07:49.155Z,1758326869.155 [DAT](INFO): DAT read: Bearing  11.1,  25.6 (Local)

2025-09-20T00:07:49.156Z,1758326869.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.1,  25.6 (Local)

2025-09-20T00:07:49.158Z,1758326869.158 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.3

2025-09-20T00:07:49.163Z,1758326869.163 [DAT](INFO): DAT read: 00:07:50.1985 LVL= 32752, 32753, 29506, 32755, AGC= 51, IDX= 507, 0.33, 2.194, 0.349, 1.380, 1.869, PHS= 0.427,-1.475,-0.533, RAW= 119.7,  18.8, CAL= 120.0,  20.3, ROT=  30.0, -20.3

2025-09-20T00:07:49.164Z,1758326869.164 [DAT](INFO): got valid direction response:
 00:07:50.1985 LVL= 32752, 32753, 29506, 32755, AGC= 51, IDX= 507, 0.33, 2.194, 0.349, 1.380, 1.869, PHS= 0.427,-1.475,-0.533, RAW= 119.7,  18.8, CAL= 120.0,  20.3, ROT=  30.0, -20.3

2025-09-20T00:07:49.164Z,1758326869.164 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-09-20T00:07:49.165Z,1758326869.165 [DAT](INFO): direction in FSK: [0.812236,0.468944,0.346936]
2025-09-20T00:07:49.165Z,1758326869.165 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:49.169Z,1758326869.169 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.882838
2025-09-20T00:07:49.405Z,1758326869.405 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.118636
2025-09-20T00:07:49.474Z,1758326869.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.504009 s,
      deltaX: -0.300000 m,
      approachRate: -0.595227 m/s,
      rangeRepo size: 4

2025-09-20T00:07:49.476Z,1758326869.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.787223 m,
      bearing: 243.052387 deg,
      lat: 36.779385 deg,
      lon: -121.859728 deg,
      deltaT: 12.348019 s,
      deltaX: -4.388430 m,
      approachRate: -0.355395 m/s,
      posRepo size: 4

2025-09-20T00:07:49.477Z,1758326869.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.79 m. 9.18 m.
2025-09-20T00:07:49.479Z,1758326869.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 4.335394 m,
      bearing: 233.828196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 208.521919 deg,
      new cmd heading: 208.283349 deg.

2025-09-20T00:07:49.480Z,1758326869.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.635230 target range: 9.175653 and range: 4.80 m.
2025-09-20T00:07:49.658Z,1758326869.658 [DAT](INFO): DAT read: Rx Time:00:07:50.6986 

2025-09-20T00:07:49.658Z,1758326869.658 [DAT](INFO): Rx dataTimestamp_ set to:1758326869.657780
2025-09-20T00:07:49.659Z,1758326869.659 [DAT](INFO): DAT read: Bearing  13.2,  35.9 (Local)

2025-09-20T00:07:49.660Z,1758326869.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.2,  35.9 (Local)

2025-09-20T00:07:49.662Z,1758326869.662 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed 0.0

2025-09-20T00:07:49.666Z,1758326869.666 [DAT](INFO): DAT read: 00:07:50.6986 LVL= 30320, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.29,-2.713, 1.669, 2.345, 3.050, PHS= 0.623,-1.335,-0.749, RAW= 107.0,  16.5, CAL= 108.8,  19.2, ROT=  41.2, -19.2

2025-09-20T00:07:49.668Z,1758326869.668 [DAT](INFO): got valid direction response:
 00:07:50.6986 LVL= 30320, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.29,-2.713, 1.669, 2.345, 3.050, PHS= 0.623,-1.335,-0.749, RAW= 107.0,  16.5, CAL= 108.8,  19.2, ROT=  41.2, -19.2

2025-09-20T00:07:49.668Z,1758326869.668 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-09-20T00:07:49.669Z,1758326869.669 [DAT](INFO): direction in FSK: [0.710563,0.622051,0.328867]
2025-09-20T00:07:49.669Z,1758326869.669 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:49.673Z,1758326869.673 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.386535
2025-09-20T00:07:49.909Z,1758326869.909 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.622609
2025-09-20T00:07:49.915Z,1758326869.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.503967 s,
      deltaX: 0.200000 m,
      approachRate: 0.396851 m/s,
      rangeRepo size: 4

2025-09-20T00:07:49.921Z,1758326869.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.986690 m,
      bearing: 253.642844 deg,
      lat: 36.779388 deg,
      lon: -121.859730 deg,
      deltaT: 12.851986 s,
      deltaX: -4.188962 m,
      approachRate: -0.325939 m/s,
      posRepo size: 4

2025-09-20T00:07:49.922Z,1758326869.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.99 m. 9.18 m.
2025-09-20T00:07:49.929Z,1758326869.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 4.181083 m,
      bearing: 234.346252 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 208.283354 deg,
      new cmd heading: 207.988641 deg.

2025-09-20T00:07:49.930Z,1758326869.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.630087 target range: 9.175653 and range: 5.00 m.
2025-09-20T00:07:50.162Z,1758326870.162 [DAT](INFO): DAT read: Rx Time:00:07:51.1984 

2025-09-20T00:07:50.162Z,1758326870.162 [DAT](INFO): Rx dataTimestamp_ set to:1758326870.161745
2025-09-20T00:07:50.163Z,1758326870.163 [DAT](INFO): DAT read: Bearing  19.2,  50.7 (Local)

2025-09-20T00:07:50.164Z,1758326870.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.2,  50.7 (Local)

2025-09-20T00:07:50.166Z,1758326870.166 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.3

2025-09-20T00:07:50.171Z,1758326870.171 [DAT](INFO): DAT read: 00:07:51.1984 LVL= 26720, 31713, 32754, 32755, AGC= 54, IDX= 505, 0.21, 2.590, 0.711, 0.882, 1.882, PHS= 0.810,-1.126,-1.044, RAW=  92.1,  14.2, CAL=  92.3,  17.1, ROT=  57.7, -17.1

2025-09-20T00:07:50.172Z,1758326870.172 [DAT](INFO): got valid direction response:
 00:07:51.1984 LVL= 26720, 31713, 32754, 32755, AGC= 54, IDX= 505, 0.21, 2.590, 0.711, 0.882, 1.882, PHS= 0.810,-1.126,-1.044, RAW=  92.1,  14.2, CAL=  92.3,  17.1, ROT=  57.7, -17.1

2025-09-20T00:07:50.172Z,1758326870.172 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-09-20T00:07:50.173Z,1758326870.173 [DAT](INFO): direction in FSK: [0.510730,0.807895,0.294040]
2025-09-20T00:07:50.173Z,1758326870.173 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:50.182Z,1758326870.182 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.895212
2025-09-20T00:07:50.309Z,1758326870.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.503965 s,
      deltaX: -0.300000 m,
      approachRate: -0.595280 m/s,
      rangeRepo size: 4

2025-09-20T00:07:50.311Z,1758326870.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.687476 m,
      bearing: 269.406986 deg,
      lat: 36.779388 deg,
      lon: -121.859730 deg,
      deltaT: 13.355951 s,
      deltaX: -4.488176 m,
      approachRate: -0.336043 m/s,
      posRepo size: 4

2025-09-20T00:07:50.312Z,1758326870.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m.
2025-09-20T00:07:50.323Z,1758326870.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.69 m. 9.18 m.
2025-09-20T00:07:50.329Z,1758326870.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 4.044483 m,
      bearing: 234.852654 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 207.988645 deg,
      new cmd heading: 207.730624 deg.

2025-09-20T00:07:50.330Z,1758326870.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.625583 target range: 9.175653 and range: 4.70 m.
2025-09-20T00:07:50.414Z,1758326870.414 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.127295
2025-09-20T00:07:50.666Z,1758326870.666 [DAT](INFO): DAT read: Rx Time:00:07:51.6983 

2025-09-20T00:07:50.666Z,1758326870.666 [DAT](INFO): Rx dataTimestamp_ set to:1758326870.665966
2025-09-20T00:07:50.668Z,1758326870.668 [DAT](INFO): DAT read: Bearing  25.7,  63.8 (Local)

2025-09-20T00:07:50.668Z,1758326870.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.7,  63.8 (Local)

2025-09-20T00:07:50.670Z,1758326870.670 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.3

2025-09-20T00:07:50.677Z,1758326870.677 [DAT](INFO): DAT read: 00:07:51.6983 LVL= 19616, 23425, 32754, 27443, AGC= 52, IDX= 504, 0.09,-2.686, 1.720, 1.339, 2.649, PHS= 1.051,-0.884,-1.354, RAW=  79.4,  10.8, CAL=  78.8,  12.8, ROT=  71.2, -12.8

2025-09-20T00:07:50.679Z,1758326870.679 [DAT](INFO): got valid direction response:
 00:07:51.6983 LVL= 19616, 23425, 32754, 27443, AGC= 52, IDX= 504, 0.09,-2.686, 1.720, 1.339, 2.649, PHS= 1.051,-0.884,-1.354, RAW=  79.4,  10.8, CAL=  78.8,  12.8, ROT=  71.2, -12.8

2025-09-20T00:07:50.684Z,1758326870.684 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-09-20T00:07:50.686Z,1758326870.686 [DAT](INFO): direction in FSK: [0.314257,0.923124,0.221548]
2025-09-20T00:07:50.686Z,1758326870.686 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:50.713Z,1758326870.713 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.426865
2025-09-20T00:07:50.813Z,1758326870.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.504221 s,
      deltaX: -0.200000 m,
      approachRate: -0.396651 m/s,
      rangeRepo size: 4

2025-09-20T00:07:50.815Z,1758326870.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.488009 m,
      bearing: 282.323116 deg,
      lat: 36.779393 deg,
      lon: -121.859736 deg,
      deltaT: 13.860172 s,
      deltaX: -4.687644 m,
      approachRate: -0.338210 m/s,
      posRepo size: 4

2025-09-20T00:07:50.815Z,1758326870.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.50 m.
2025-09-20T00:07:50.828Z,1758326870.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.49 m. 9.18 m.
2025-09-20T00:07:50.831Z,1758326870.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 3.867450 m,
      bearing: 235.608622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 207.730628 deg,
      new cmd heading: 207.394190 deg.

2025-09-20T00:07:50.837Z,1758326870.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619711 target range: 9.175653 and range: 4.50 m.
2025-09-20T00:07:50.917Z,1758326870.917 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.630762
2025-09-20T00:07:51.169Z,1758326871.169 [DAT](INFO): DAT read: Rx Time:00:07:52.1980 

2025-09-20T00:07:51.170Z,1758326871.170 [DAT](INFO): Rx dataTimestamp_ set to:1758326871.169314
2025-09-20T00:07:51.171Z,1758326871.171 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.3

2025-09-20T00:07:51.171Z,1758326871.171 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-09-20T00:07:51.173Z,1758326871.173 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.886694
2025-09-20T00:07:51.175Z,1758326871.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:51.181Z,1758326871.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.503348 s,
      deltaX: -0.400000 m,
      approachRate: -0.794679 m/s,
      rangeRepo size: 4

2025-09-20T00:07:51.182Z,1758326871.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.18 m. 9.18 m.
2025-09-20T00:07:51.187Z,1758326871.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 3.729447 m,
      bearing: 236.263893 deg,
      approach rate: -0.367105 m/s,
      LOS rate: 1.807566 deg/s,
      cmd heading: 207.394186 deg,
      new cmd heading: 208.752939 deg.

2025-09-20T00:07:51.189Z,1758326871.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.643426 target range: 9.175653 and range: 4.10 m.
2025-09-20T00:07:51.421Z,1758326871.421 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.134592
2025-09-20T00:07:51.642Z,1758326871.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.18 m. 9.18 m.
2025-09-20T00:07:51.645Z,1758326871.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 3.564909 m,
      bearing: 237.129056 deg,
      approach rate: -0.355932 m/s,
      LOS rate: 1.957848 deg/s,
      cmd heading: 208.752943 deg,
      new cmd heading: 210.562461 deg.

2025-09-20T00:07:51.646Z,1758326871.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.675008 target range: 9.175653 and range: 4.10 m.
2025-09-20T00:07:51.683Z,1758326871.683 [DAT](INFO): DAT read: Rx Time:00:07:52.6980 

2025-09-20T00:07:51.686Z,1758326871.686 [DAT](INFO): Rx dataTimestamp_ set to:1758326871.685766
2025-09-20T00:07:51.689Z,1758326871.689 [DAT](INFO): DAT read: Bearing 174.1,  19.8 (Local)

2025-09-20T00:07:51.689Z,1758326871.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.1,  19.8 (Local)

2025-09-20T00:07:51.693Z,1758326871.693 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.3

2025-09-20T00:07:51.707Z,1758326871.707 [DAT](INFO): DAT read: 00:07:52.6980 LVL= 16256, 13025, 18706, 11395, AGC= 47, IDX= 505,-0.37,-0.643, 1.041,-1.270,-0.509, PHS=-0.032, 1.595,-0.804, RAW= 348.4,  -7.2, CAL= 348.0, -10.2, ROT= 162.0,  10.2

2025-09-20T00:07:51.717Z,1758326871.717 [DAT](INFO): got valid direction response:
 00:07:52.6980 LVL= 16256, 13025, 18706, 11395, AGC= 47, IDX= 505,-0.37,-0.643, 1.041,-1.270,-0.509, PHS=-0.032, 1.595,-0.804, RAW= 348.4,  -7.2, CAL= 348.0, -10.2, ROT= 162.0,  10.2

2025-09-20T00:07:51.717Z,1758326871.717 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-09-20T00:07:51.718Z,1758326871.718 [DAT](INFO): direction in FSK: [-0.936026,0.304133,-0.177085]
2025-09-20T00:07:51.718Z,1758326871.718 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:51.739Z,1758326871.739 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.441389
2025-09-20T00:07:51.933Z,1758326871.933 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.646662
2025-09-20T00:07:52.015Z,1758326872.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.516452 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:52.017Z,1758326872.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.089059 m,
      bearing: 12.805071 deg,
      lat: 36.779404 deg,
      lon: -121.859736 deg,
      deltaT: 14.879972 s,
      deltaX: -5.086594 m,
      approachRate: -0.341842 m/s,
      posRepo size: 4

2025-09-20T00:07:52.018Z,1758326872.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.09 m. 9.18 m.
2025-09-20T00:07:52.037Z,1758326872.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 3.433157 m,
      bearing: 237.933181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 210.562465 deg,
      new cmd heading: 210.313465 deg.

2025-09-20T00:07:52.038Z,1758326872.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.670662 target range: 9.175653 and range: 4.10 m.
2025-09-20T00:07:52.186Z,1758326872.186 [DAT](INFO): DAT read: Rx Time:00:07:53.1977 

2025-09-20T00:07:52.187Z,1758326872.187 [DAT](INFO): Rx dataTimestamp_ set to:1758326872.186551
2025-09-20T00:07:52.189Z,1758326872.189 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.3

2025-09-20T00:07:52.190Z,1758326872.190 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-09-20T00:07:52.191Z,1758326872.191 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.904490
2025-09-20T00:07:52.381Z,1758326872.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.500785 s,
      deltaX: -0.500000 m,
      approachRate: -0.998432 m/s,
      rangeRepo size: 4

2025-09-20T00:07:52.382Z,1758326872.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.18 m. 9.18 m.
2025-09-20T00:07:52.388Z,1758326872.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 3.301836 m,
      bearing: 238.811999 deg,
      approach rate: -0.359197 m/s,
      LOS rate: 2.499296 deg/s,
      cmd heading: 210.313464 deg,
      new cmd heading: 212.140315 deg.

2025-09-20T00:07:52.389Z,1758326872.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.702547 target range: 9.175653 and range: 3.60 m.
2025-09-20T00:07:52.438Z,1758326872.438 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.151966
2025-09-20T00:07:52.690Z,1758326872.690 [DAT](INFO): DAT read: Rx Time:00:07:53.6977 

2025-09-20T00:07:52.691Z,1758326872.691 [DAT](INFO): Rx dataTimestamp_ set to:1758326872.690167
2025-09-20T00:07:52.693Z,1758326872.693 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.3

2025-09-20T00:07:52.694Z,1758326872.694 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-09-20T00:07:52.696Z,1758326872.696 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.409302
2025-09-20T00:07:52.879Z,1758326872.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.503616 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:52.880Z,1758326872.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.18 m. 9.18 m.
2025-09-20T00:07:52.883Z,1758326872.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 3.143761 m,
      bearing: 239.983501 deg,
      approach rate: -0.316956 m/s,
      LOS rate: 2.466910 deg/s,
      cmd heading: 212.140321 deg,
      new cmd heading: 214.599454 deg.

2025-09-20T00:07:52.884Z,1758326872.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745467 target range: 9.175653 and range: 3.60 m.
2025-09-20T00:07:52.941Z,1758326872.941 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.654564
2025-09-20T00:07:53.195Z,1758326873.195 [DAT](INFO): DAT read: Rx Time:00:07:54.1976 

2025-09-20T00:07:53.195Z,1758326873.195 [DAT](INFO): Rx dataTimestamp_ set to:1758326873.194852
2025-09-20T00:07:53.198Z,1758326873.198 [DAT](INFO): DAT read: Bearing  15.9, -17.4 (Local)

2025-09-20T00:07:53.198Z,1758326873.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.9, -17.4 (Local)

2025-09-20T00:07:53.202Z,1758326873.202 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-09-20T00:07:53.206Z,1758326873.206 [DAT](INFO): DAT read: 00:07:54.1976 LVL= 15472, 17825, 27122, 15795, AGC= 45, IDX= 498, 0.04,-0.818,-2.398,-0.064,-0.292, PHS=-0.424,-2.061, 0.184, RAW= 165.2,  22.0, CAL= 166.8,  31.5, ROT= 343.2, -31.5

2025-09-20T00:07:53.207Z,1758326873.207 [DAT](INFO): got valid direction response:
 00:07:54.1976 LVL= 15472, 17825, 27122, 15795, AGC= 45, IDX= 498, 0.04,-0.818,-2.398,-0.064,-0.292, PHS=-0.424,-2.061, 0.184, RAW= 165.2,  22.0, CAL= 166.8,  31.5, ROT= 343.2, -31.5

2025-09-20T00:07:53.216Z,1758326873.216 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-09-20T00:07:53.217Z,1758326873.217 [DAT](INFO): direction in FSK: [0.816249,-0.246440,0.522499]
2025-09-20T00:07:53.217Z,1758326873.217 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:53.221Z,1758326873.221 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.934517
2025-09-20T00:07:53.261Z,1758326873.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.504685 s,
      deltaX: -0.100000 m,
      approachRate: -0.198143 m/s,
      rangeRepo size: 4

2025-09-20T00:07:53.263Z,1758326873.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.490650 m,
      bearing: 194.694704 deg,
      lat: 36.779404 deg,
      lon: -121.859736 deg,
      deltaT: 16.389058 s,
      deltaX: -5.685002 m,
      approachRate: -0.346878 m/s,
      posRepo size: 4

2025-09-20T00:07:53.276Z,1758326873.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.49 m. 9.18 m.
2025-09-20T00:07:53.279Z,1758326873.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 3.029196 m,
      bearing: 240.921520 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 214.599448 deg,
      new cmd heading: 214.350054 deg.

2025-09-20T00:07:53.288Z,1758326873.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.741114 target range: 9.175653 and range: 3.50 m.
2025-09-20T00:07:53.445Z,1758326873.445 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.158665
2025-09-20T00:07:53.699Z,1758326873.699 [DAT](INFO): DAT read: Rx Time:00:07:54.6975 

2025-09-20T00:07:53.700Z,1758326873.700 [DAT](INFO): Rx dataTimestamp_ set to:1758326873.699415
2025-09-20T00:07:53.702Z,1758326873.702 [DAT](INFO): DAT read: Bearing  26.6, -11.1 (Local)

2025-09-20T00:07:53.702Z,1758326873.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.6, -11.1 (Local)

2025-09-20T00:07:53.704Z,1758326873.704 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed 0.2

2025-09-20T00:07:53.709Z,1758326873.709 [DAT](INFO): DAT read: 00:07:54.6975 LVL= 20368, 19729, 28946, 26675, AGC= 44, IDX= 499, 0.07,-3.097, 1.649,-2.702,-2.512, PHS=-0.483,-2.077,-0.234, RAW= 157.1,  29.7, CAL= 160.6,  42.6, ROT= 349.4, -42.6

2025-09-20T00:07:53.711Z,1758326873.711 [DAT](INFO): got valid direction response:
 00:07:54.6975 LVL= 20368, 19729, 28946, 26675, AGC= 44, IDX= 499, 0.07,-3.097, 1.649,-2.702,-2.512, PHS=-0.483,-2.077,-0.234, RAW= 157.1,  29.7, CAL= 160.6,  42.6, ROT= 349.4, -42.6

2025-09-20T00:07:53.711Z,1758326873.711 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-09-20T00:07:53.712Z,1758326873.712 [DAT](INFO): direction in FSK: [0.723536,-0.135406,0.676876]
2025-09-20T00:07:53.712Z,1758326873.712 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:53.744Z,1758326873.744 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.429329
2025-09-20T00:07:53.782Z,1758326873.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.504563 s,
      deltaX: -0.200000 m,
      approachRate: -0.396383 m/s,
      rangeRepo size: 4

2025-09-20T00:07:53.791Z,1758326873.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.291184 m,
      bearing: 201.638707 deg,
      lat: 36.779404 deg,
      lon: -121.859705 deg,
      deltaT: 16.893621 s,
      deltaX: -5.884468 m,
      approachRate: -0.348325 m/s,
      posRepo size: 4

2025-09-20T00:07:53.800Z,1758326873.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.29 m. 9.18 m.
2025-09-20T00:07:53.803Z,1758326873.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 2.879405 m,
      bearing: 242.646134 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.334146 deg/s,
      cmd heading: 214.350051 deg,
      new cmd heading: 213.996338 deg.

2025-09-20T00:07:53.812Z,1758326873.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734941 target range: 9.175653 and range: 3.30 m.
2025-09-20T00:07:53.949Z,1758326873.949 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.662821
2025-09-20T00:07:54.135Z,1758326874.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:54.142Z,1758326874.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.18 m. 9.18 m.
2025-09-20T00:07:54.153Z,1758326874.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.175653 m,
      nav range: 2.756905 m,
      bearing: 244.223477 deg,
      approach rate: -0.340147 m/s,
      LOS rate: 4.573841 deg/s,
      cmd heading: 213.996343 deg,
      new cmd heading: 217.287165 deg.

2025-09-20T00:07:54.153Z,1758326874.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792377 target range: 9.175653 and range: 3.30 m.
2025-09-20T00:07:54.201Z,1758326874.201 [DAT](INFO): DAT read: Rx Time:00:07:55.1973 

2025-09-20T00:07:54.202Z,1758326874.202 [DAT](INFO): Rx dataTimestamp_ set to:1758326874.201651
2025-09-20T00:07:54.203Z,1758326874.203 [DAT](INFO): DAT read: Bearing  36.0, -19.1 (Local)

2025-09-20T00:07:54.203Z,1758326874.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.0, -19.1 (Local)

2025-09-20T00:07:54.206Z,1758326874.206 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.2

2025-09-20T00:07:54.210Z,1758326874.210 [DAT](INFO): DAT read: 00:07:55.1973 LVL= 18400, 17889, 25650, 27315, AGC= 43, IDX= 497, 0.30, 1.458, 0.601, 2.251, 2.496, PHS=-0.936,-1.851,-0.289, RAW= 174.4,  38.7, CAL= 174.8,  49.6, ROT= 335.2, -49.6

2025-09-20T00:07:54.211Z,1758326874.211 [DAT](INFO): got valid direction response:
 00:07:55.1973 LVL= 18400, 17889, 25650, 27315, AGC= 43, IDX= 497, 0.30, 1.458, 0.601, 2.251, 2.496, PHS=-0.936,-1.851,-0.289, RAW= 174.4,  38.7, CAL= 174.8,  49.6, ROT= 335.2, -49.6

2025-09-20T00:07:54.212Z,1758326874.212 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-09-20T00:07:54.213Z,1758326874.213 [DAT](INFO): direction in FSK: [0.588349,-0.271855,0.761538]
2025-09-20T00:07:54.213Z,1758326874.213 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:54.217Z,1758326874.217 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.930235
2025-09-20T00:07:54.453Z,1758326874.453 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.166687
2025-09-20T00:07:54.496Z,1758326874.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.502236 s,
      deltaX: -0.300000 m,
      approachRate: -0.597329 m/s,
      rangeRepo size: 4

2025-09-20T00:07:54.498Z,1758326874.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.991997 m,
      bearing: 188.053062 deg,
      lat: 36.779376 deg,
      lon: -121.859702 deg,
      deltaT: 17.395857 s,
      deltaX: -6.183655 m,
      approachRate: -0.355467 m/s,
      posRepo size: 4

2025-09-20T00:07:54.499Z,1758326874.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-09-20T00:07:54.499Z,1758326874.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-09-20T00:07:54.706Z,1758326874.706 [DAT](INFO): DAT read: Rx Time:00:07:55.6973 

2025-09-20T00:07:54.706Z,1758326874.706 [DAT](INFO): Rx dataTimestamp_ set to:1758326874.705745
2025-09-20T00:07:54.707Z,1758326874.707 [DAT](INFO): DAT read: Bearing  63.9, -22.7 (Local)

2025-09-20T00:07:54.708Z,1758326874.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.9, -22.7 (Local)

2025-09-20T00:07:54.710Z,1758326874.710 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.2

2025-09-20T00:07:54.716Z,1758326874.716 [DAT](INFO): DAT read: 00:07:55.6973 LVL= 10992, 15633, 20466, 21491, AGC= 42, IDX= 513,-0.48,-0.257,-0.137, 0.569, 1.224, PHS=-1.379,-1.317,-0.700, RAW= 214.8,  61.5, CAL= 213.8,  67.4, ROT= 296.2, -67.4

2025-09-20T00:07:54.717Z,1758326874.717 [DAT](INFO): got valid direction response:
 00:07:55.6973 LVL= 10992, 15633, 20466, 21491, AGC= 42, IDX= 513,-0.48,-0.257,-0.137, 0.569, 1.224, PHS=-1.379,-1.317,-0.700, RAW= 214.8,  61.5, CAL= 213.8,  67.4, ROT= 296.2, -67.4

2025-09-20T00:07:54.717Z,1758326874.717 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-09-20T00:07:54.718Z,1758326874.718 [DAT](INFO): direction in FSK: [0.169669,-0.344812,0.923210]
2025-09-20T00:07:54.719Z,1758326874.719 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:54.739Z,1758326874.739 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.452240
2025-09-20T00:07:54.937Z,1758326874.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.504094 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:54.939Z,1758326874.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.991997 m,
      bearing: 152.376960 deg,
      lat: 36.779376 deg,
      lon: -121.859699 deg,
      deltaT: 0.504094 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:54.957Z,1758326874.957 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.670650
2025-09-20T00:07:55.209Z,1758326875.209 [DAT](INFO): DAT read: Rx Time:00:07:56.1971 

2025-09-20T00:07:55.209Z,1758326875.210 [DAT](INFO): Rx dataTimestamp_ set to:1758326875.209223
2025-09-20T00:07:55.211Z,1758326875.211 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.2

2025-09-20T00:07:55.211Z,1758326875.211 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-09-20T00:07:55.212Z,1758326875.212 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.925980
2025-09-20T00:07:55.299Z,1758326875.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503478 s,
      deltaX: -0.300000 m,
      approachRate: -0.595855 m/s,
      rangeRepo size: 4

2025-09-20T00:07:55.464Z,1758326875.464 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.177341
2025-09-20T00:07:55.714Z,1758326875.714 [DAT](INFO): DAT read: Rx Time:00:07:56.6971 

2025-09-20T00:07:55.714Z,1758326875.714 [DAT](INFO): Rx dataTimestamp_ set to:1758326875.713737
2025-09-20T00:07:55.715Z,1758326875.715 [DAT](INFO): DAT read: Bearing  43.5,  -6.1 (Local)

2025-09-20T00:07:55.716Z,1758326875.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.5,  -6.1 (Local)

2025-09-20T00:07:55.718Z,1758326875.718 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.2

2025-09-20T00:07:55.723Z,1758326875.723 [DAT](INFO): DAT read: 00:07:56.6971 LVL=  5504,  9873, 20498, 17235, AGC= 42, IDX= 511,-0.36,-0.768,-1.663,-0.513, 0.212, PHS=-0.878,-1.831,-0.769, RAW= 155.4,  50.6, CAL= 158.1,  59.0, ROT= 351.9, -59.0

2025-09-20T00:07:55.724Z,1758326875.724 [DAT](INFO): got valid direction response:
 00:07:56.6971 LVL=  5504,  9873, 20498, 17235, AGC= 42, IDX= 511,-0.36,-0.768,-1.663,-0.513, 0.212, PHS=-0.878,-1.831,-0.769, RAW= 155.4,  50.6, CAL= 158.1,  59.0, ROT= 351.9, -59.0

2025-09-20T00:07:55.725Z,1758326875.725 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-09-20T00:07:55.726Z,1758326875.726 [DAT](INFO): direction in FSK: [0.509900,-0.072569,0.857167]
2025-09-20T00:07:55.727Z,1758326875.727 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:55.741Z,1758326875.741 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.454678
2025-09-20T00:07:55.827Z,1758326875.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504514 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:55.844Z,1758326875.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.692805 m,
      bearing: 203.584313 deg,
      lat: 36.779376 deg,
      lon: -121.859702 deg,
      deltaT: 1.007992 s,
      deltaX: -0.299193 m,
      approachRate: -0.296821 m/s,
      posRepo size: 4

2025-09-20T00:07:55.966Z,1758326875.966 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.679436
2025-09-20T00:07:56.218Z,1758326876.218 [DAT](INFO): DAT read: Rx Time:00:07:57.1969 

2025-09-20T00:07:56.218Z,1758326876.218 [DAT](INFO): Rx dataTimestamp_ set to:1758326876.217789
2025-09-20T00:07:56.219Z,1758326876.219 [DAT](INFO): DAT read: Bearing  44.8,  33.3 (Local)

2025-09-20T00:07:56.220Z,1758326876.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.8,  33.3 (Local)

2025-09-20T00:07:56.222Z,1758326876.222 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.1

2025-09-20T00:07:56.226Z,1758326876.226 [DAT](INFO): DAT read: 00:07:57.1969 LVL=  8656, 13937, 18242, 27811, AGC= 41, IDX= 509,-0.03,-0.746,-1.831,-1.607,-0.518, PHS=-0.126,-1.268,-1.133, RAW=  96.2,  39.6, CAL=  94.6,  46.5, ROT=  55.4, -46.5

2025-09-20T00:07:56.227Z,1758326876.227 [DAT](INFO): got valid direction response:
 00:07:57.1969 LVL=  8656, 13937, 18242, 27811, AGC= 41, IDX= 509,-0.03,-0.746,-1.831,-1.607,-0.518, PHS=-0.126,-1.268,-1.133, RAW=  96.2,  39.6, CAL=  94.6,  46.5, ROT=  55.4, -46.5

2025-09-20T00:07:56.228Z,1758326876.228 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-09-20T00:07:56.229Z,1758326876.229 [DAT](INFO): direction in FSK: [0.390878,0.566610,0.725374]
2025-09-20T00:07:56.229Z,1758326876.229 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:56.234Z,1758326876.234 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.947731
2025-09-20T00:07:56.469Z,1758326876.469 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.182594
2025-09-20T00:07:56.518Z,1758326876.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504052 s,
      deltaX: -0.300000 m,
      approachRate: -0.595177 m/s,
      rangeRepo size: 4

2025-09-20T00:07:56.520Z,1758326876.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.393601 m,
      bearing: 264.398882 deg,
      lat: 36.779377 deg,
      lon: -121.859705 deg,
      deltaT: 0.504052 s,
      deltaX: -0.299204 m,
      approachRate: -0.593597 m/s,
      posRepo size: 4

2025-09-20T00:07:56.722Z,1758326876.722 [DAT](INFO): DAT read: Rx Time:00:07:57.6969 

2025-09-20T00:07:56.723Z,1758326876.723 [DAT](INFO): Rx dataTimestamp_ set to:1758326876.722416
2025-09-20T00:07:56.725Z,1758326876.725 [DAT](INFO): DAT read: Bearing 115.5,   3.2 (Local)

2025-09-20T00:07:56.725Z,1758326876.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 115.5,   3.2 (Local)

2025-09-20T00:07:56.732Z,1758326876.732 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.2

2025-09-20T00:07:56.753Z,1758326876.753 [DAT](INFO): DAT read: 00:07:57.6969 LVL= 11680, 16817, 18002, 19827, AGC= 41, IDX= 509, 0.31,-0.245, 1.231,-0.163, 1.676, PHS=-1.819,-0.400,-1.884, RAW= 332.2,  45.0, CAL= 331.5,  49.4, ROT= 178.5, -49.4

2025-09-20T00:07:56.755Z,1758326876.755 [DAT](INFO): got valid direction response:
 00:07:57.6969 LVL= 11680, 16817, 18002, 19827, AGC= 41, IDX= 509, 0.31,-0.245, 1.231,-0.163, 1.676, PHS=-1.819,-0.400,-1.884, RAW= 332.2,  45.0, CAL= 331.5,  49.4, ROT= 178.5, -49.4

2025-09-20T00:07:56.755Z,1758326876.755 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-09-20T00:07:56.761Z,1758326876.761 [DAT](INFO): direction in FSK: [-0.650551,0.017035,0.759271]
2025-09-20T00:07:56.761Z,1758326876.761 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:56.782Z,1758326876.782 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.495432
2025-09-20T00:07:56.932Z,1758326876.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504627 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:07:56.934Z,1758326876.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.393601 m,
      bearing: 32.198932 deg,
      lat: 36.779383 deg,
      lon: -121.859699 deg,
      deltaT: 0.504627 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:07:56.973Z,1758326876.973 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.686686
2025-09-20T00:07:57.225Z,1758326877.225 [DAT](INFO): DAT read: Rx Time:00:07:58.1967 

2025-09-20T00:07:57.226Z,1758326877.226 [DAT](INFO): Rx dataTimestamp_ set to:1758326877.225585
2025-09-20T00:07:57.227Z,1758326877.227 [DAT](INFO): DAT read: Bearing 127.1,   7.8 (Local)

2025-09-20T00:07:57.227Z,1758326877.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 127.1,   7.8 (Local)

2025-09-20T00:07:57.230Z,1758326877.230 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.1

2025-09-20T00:07:57.234Z,1758326877.234 [DAT](INFO): DAT read: 00:07:58.1967 LVL= 18640, 14929, 18386, 21955, AGC= 44, IDX= 508,-0.15, 2.065,-2.569, 1.966,-2.616, PHS=-1.500, 0.092,-1.746, RAW= 337.1,  32.8, CAL= 336.1,  38.1, ROT= 173.9, -38.1

2025-09-20T00:07:57.235Z,1758326877.235 [DAT](INFO): got valid direction response:
 00:07:58.1967 LVL= 18640, 14929, 18386, 21955, AGC= 44, IDX= 508,-0.15, 2.065,-2.569, 1.966,-2.616, PHS=-1.500, 0.092,-1.746, RAW= 337.1,  32.8, CAL= 336.1,  38.1, ROT= 173.9, -38.1

2025-09-20T00:07:57.235Z,1758326877.235 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-09-20T00:07:57.237Z,1758326877.237 [DAT](INFO): direction in FSK: [-0.782479,0.083623,0.617036]
2025-09-20T00:07:57.237Z,1758326877.237 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:57.243Z,1758326877.243 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.956127
2025-09-20T00:07:57.390Z,1758326877.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503169 s,
      deltaX: -0.300000 m,
      approachRate: -0.596222 m/s,
      rangeRepo size: 4

2025-09-20T00:07:57.396Z,1758326877.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.094395 m,
      bearing: 27.604445 deg,
      lat: 36.779386 deg,
      lon: -121.859694 deg,
      deltaT: 0.503169 s,
      deltaX: -0.299206 m,
      approachRate: -0.594642 m/s,
      posRepo size: 4

2025-09-20T00:07:57.478Z,1758326877.478 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.191488
2025-09-20T00:07:57.731Z,1758326877.731 [DAT](INFO): DAT read: Rx Time:00:07:58.6976 

2025-09-20T00:07:57.731Z,1758326877.731 [DAT](INFO): Rx dataTimestamp_ set to:1758326877.731167
2025-09-20T00:07:57.733Z,1758326877.733 [DAT](INFO): DAT read: Bearing 100.1,  14.2 (Local)

2025-09-20T00:07:57.734Z,1758326877.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.1,  14.2 (Local)

2025-09-20T00:07:57.738Z,1758326877.738 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.1

2025-09-20T00:07:57.753Z,1758326877.753 [DAT](INFO): DAT read: 00:07:58.6976 LVL= 24928, 23585, 32754, 32755, AGC= 57, IDX=   0, 0.51, 0.054, 0.720,-0.314, 1.786, PHS=-1.631,-1.022,-2.145, RAW= 357.2,  60.1, CAL= 356.3,  63.1, ROT= 153.7, -63.1

2025-09-20T00:07:57.755Z,1758326877.755 [DAT](INFO): got valid direction response:
 00:07:58.6976 LVL= 24928, 23585, 32754, 32755, AGC= 57, IDX=   0, 0.51, 0.054, 0.720,-0.314, 1.786, PHS=-1.631,-1.022,-2.145, RAW= 357.2,  60.1, CAL= 356.3,  63.1, ROT= 153.7, -63.1

2025-09-20T00:07:57.755Z,1758326877.755 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-09-20T00:07:57.773Z,1758326877.773 [DAT](INFO): direction in FSK: [-0.405602,0.200461,0.891798]
2025-09-20T00:07:57.773Z,1758326877.773 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:57.785Z,1758326877.785 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.499020
2025-09-20T00:07:57.884Z,1758326877.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.505582 s,
      deltaX: 1.400000 m,
      approachRate: 2.769086 m/s,
      rangeRepo size: 4

2025-09-20T00:07:57.886Z,1758326877.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.490659 m,
      bearing: 7.823601 deg,
      lat: 36.779396 deg,
      lon: -121.859702 deg,
      deltaT: 0.505582 s,
      deltaX: 1.396264 m,
      approachRate: 2.761696 m/s,
      posRepo size: 4

2025-09-20T00:07:57.981Z,1758326877.981 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.694683
2025-09-20T00:07:58.234Z,1758326878.234 [DAT](INFO): DAT read: Rx Time:00:07:59.1975 

2025-09-20T00:07:58.234Z,1758326878.234 [DAT](INFO): Rx dataTimestamp_ set to:1758326878.234029
2025-09-20T00:07:58.236Z,1758326878.236 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed 0.1

2025-09-20T00:07:58.238Z,1758326878.238 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-09-20T00:07:58.246Z,1758326878.246 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.957424
2025-09-20T00:07:58.331Z,1758326878.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:07:58.334Z,1758326878.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.502862 s,
      deltaX: -0.200000 m,
      approachRate: -0.397724 m/s,
      rangeRepo size: 4

2025-09-20T00:07:58.485Z,1758326878.485 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.198580
2025-09-20T00:07:58.742Z,1758326878.742 [DAT](INFO): DAT read: Rx Time:00:07:59.6967 

2025-09-20T00:07:58.743Z,1758326878.743 [DAT](INFO): Rx dataTimestamp_ set to:1758326878.742433
2025-09-20T00:07:58.746Z,1758326878.746 [DAT](INFO): DAT read: Bearing 128.0,  17.6 (Local)

2025-09-20T00:07:58.746Z,1758326878.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing 128.0,  17.6 (Local)

2025-09-20T00:07:58.749Z,1758326878.749 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-09-20T00:07:58.759Z,1758326878.759 [DAT](INFO): DAT read: 00:07:59.6967 LVL= 23968, 15569, 32754, 29619, AGC= 48, IDX= 492,-0.45, 0.802, 2.064, 0.312, 2.059, PHS=-1.155, 0.050,-1.791, RAW= 349.9,  32.3, CAL= 348.6,  37.5, ROT= 161.4, -37.5

2025-09-20T00:07:58.765Z,1758326878.765 [DAT](INFO): got valid direction response:
 00:07:59.6967 LVL= 23968, 15569, 32754, 29619, AGC= 48, IDX= 492,-0.45, 0.802, 2.064, 0.312, 2.059, PHS=-1.155, 0.050,-1.791, RAW= 349.9,  32.3, CAL= 348.6,  37.5, ROT= 161.4, -37.5

2025-09-20T00:07:58.765Z,1758326878.765 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-09-20T00:07:58.766Z,1758326878.766 [DAT](INFO): direction in FSK: [-0.751915,0.253048,0.608761]
2025-09-20T00:07:58.766Z,1758326878.766 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:58.794Z,1758326878.794 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.507626
2025-09-20T00:07:58.904Z,1758326878.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.508404 s,
      deltaX: -1.200000 m,
      approachRate: -2.360328 m/s,
      rangeRepo size: 4

2025-09-20T00:07:58.906Z,1758326878.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.094394 m,
      bearing: 16.272593 deg,
      lat: 36.779396 deg,
      lon: -121.859702 deg,
      deltaT: 1.011266 s,
      deltaX: -1.396265 m,
      approachRate: -1.380710 m/s,
      posRepo size: 4

2025-09-20T00:07:58.990Z,1758326878.990 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.703312
2025-09-20T00:07:59.201Z,1758326879.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-09-20T00:07:59.243Z,1758326879.243 [DAT](INFO): DAT read: Rx Time:00:08:00.1966 

2025-09-20T00:07:59.244Z,1758326879.244 [DAT](INFO): Rx dataTimestamp_ set to:1758326879.243222
2025-09-20T00:07:59.246Z,1758326879.246 [DAT](INFO): DAT read: Bearing  91.6,  29.8 (Local)

2025-09-20T00:07:59.246Z,1758326879.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.6,  29.8 (Local)

2025-09-20T00:07:59.250Z,1758326879.250 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:07:59.265Z,1758326879.265 [DAT](INFO): DAT read: 00:08:00.1966 LVL= 14240, 17089, 16098, 19811, AGC= 44, IDX= 506, 0.08, 2.010, 1.954, 1.025, 3.137, PHS=-1.025,-1.138,-2.156, RAW=  35.2,  54.8, CAL=  33.7,  58.8, ROT= 116.3, -58.8

2025-09-20T00:07:59.267Z,1758326879.267 [DAT](INFO): got valid direction response:
 00:08:00.1966 LVL= 14240, 17089, 16098, 19811, AGC= 44, IDX= 506, 0.08, 2.010, 1.954, 1.025, 3.137, PHS=-1.025,-1.138,-2.156, RAW=  35.2,  54.8, CAL=  33.7,  58.8, ROT= 116.3, -58.8

2025-09-20T00:07:59.267Z,1758326879.267 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-09-20T00:07:59.272Z,1758326879.272 [DAT](INFO): direction in FSK: [-0.229523,0.464404,0.855364]
2025-09-20T00:07:59.272Z,1758326879.272 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:59.281Z,1758326879.281 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.994806
2025-09-20T00:07:59.493Z,1758326879.493 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.206547
2025-09-20T00:07:59.649Z,1758326879.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.500789 s,
      deltaX: -0.100000 m,
      approachRate: -0.199685 m/s,
      rangeRepo size: 4

2025-09-20T00:07:59.651Z,1758326879.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.994674 m,
      bearing: 329.755281 deg,
      lat: 36.779396 deg,
      lon: -121.859702 deg,
      deltaT: 0.500789 s,
      deltaX: -0.099720 m,
      approachRate: -0.199125 m/s,
      posRepo size: 4

2025-09-20T00:07:59.748Z,1758326879.748 [DAT](INFO): DAT read: Rx Time:00:08:00.6966 

2025-09-20T00:07:59.749Z,1758326879.749 [DAT](INFO): Rx dataTimestamp_ set to:1758326879.748403
2025-09-20T00:07:59.751Z,1758326879.751 [DAT](INFO): DAT read: Bearing  91.8,  35.6 (Local)

2025-09-20T00:07:59.751Z,1758326879.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.8,  35.6 (Local)

2025-09-20T00:07:59.755Z,1758326879.755 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:07:59.774Z,1758326879.774 [DAT](INFO): DAT read: 00:08:00.6966 LVL= 12336, 16289, 18770, 18659, AGC= 46, IDX= 506,-0.00, 0.340, 0.120,-0.855, 1.218, PHS=-0.776,-1.053,-2.117, RAW=  41.3,  48.7, CAL=  39.3,  53.6, ROT= 110.7, -53.6

2025-09-20T00:07:59.775Z,1758326879.775 [DAT](INFO): got valid direction response:
 00:08:00.6966 LVL= 12336, 16289, 18770, 18659, AGC= 46, IDX= 506,-0.00, 0.340, 0.120,-0.855, 1.218, PHS=-0.776,-1.053,-2.117, RAW=  41.3,  48.7, CAL=  39.3,  53.6, ROT= 110.7, -53.6

2025-09-20T00:07:59.776Z,1758326879.776 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-09-20T00:07:59.778Z,1758326879.778 [DAT](INFO): direction in FSK: [-0.209759,0.555110,0.804894]
2025-09-20T00:07:59.778Z,1758326879.778 [DAT](INFO): publishing direction and range info
2025-09-20T00:07:59.787Z,1758326879.787 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.500795
2025-09-20T00:07:59.856Z,1758326879.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:07:59.997Z,1758326879.997 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.710665
2025-09-20T00:08:00.080Z,1758326880.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.505181 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:08:00.082Z,1758326880.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.994675 m,
      bearing: 324.315506 deg,
      lat: 36.779395 deg,
      lon: -121.859702 deg,
      deltaT: 0.505181 s,
      deltaX: 0.000001 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-09-20T00:08:00.083Z,1758326880.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-09-20T00:08:00.250Z,1758326880.250 [DAT](INFO): DAT read: Rx Time:00:08:01.1965 

2025-09-20T00:08:00.251Z,1758326880.251 [DAT](INFO): Rx dataTimestamp_ set to:1758326880.250516
2025-09-20T00:08:00.252Z,1758326880.252 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:00.253Z,1758326880.253 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-09-20T00:08:00.254Z,1758326880.254 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.967260
2025-09-20T00:08:00.423Z,1758326880.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:08:00.426Z,1758326880.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.502113 s,
      deltaX: -0.200000 m,
      approachRate: -0.398317 m/s,
      rangeRepo size: 4

2025-09-20T00:08:00.501Z,1758326880.501 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.214685
2025-09-20T00:08:00.757Z,1758326880.757 [DAT](INFO): DAT read: Rx Time:00:08:01.6966 

2025-09-20T00:08:00.758Z,1758326880.758 [DAT](INFO): Rx dataTimestamp_ set to:1758326880.757489
2025-09-20T00:08:00.762Z,1758326880.762 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:00.764Z,1758326880.764 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-09-20T00:08:00.767Z,1758326880.767 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.480364
2025-09-20T00:08:00.860Z,1758326880.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:08:00.874Z,1758326880.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.506973 s,
      deltaX: 0.200000 m,
      approachRate: 0.394498 m/s,
      rangeRepo size: 4

2025-09-20T00:08:00.875Z,1758326880.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-09-20T00:08:00.875Z,1758326880.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.00 m.
2025-09-20T00:08:00.875Z,1758326880.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-09-20T00:08:01.005Z,1758326881.005 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.718555
2025-09-20T00:08:01.246Z,1758326881.246 [DockingStepper](INFO): Changing to mode: 1
2025-09-20T00:08:01.258Z,1758326881.258 [DAT](INFO): DAT read: Rx Time:00:08:02.1965 

2025-09-20T00:08:01.258Z,1758326881.258 [DAT](INFO): Rx dataTimestamp_ set to:1758326881.257768
2025-09-20T00:08:01.259Z,1758326881.259 [DAT](INFO): DAT read: Bearing  68.2,  50.7 (Local)

2025-09-20T00:08:01.260Z,1758326881.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.2,  50.7 (Local)

2025-09-20T00:08:01.262Z,1758326881.262 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.1

2025-09-20T00:08:01.278Z,1758326881.278 [DAT](INFO): DAT read: 00:08:02.1965 LVL= 15552, 16609, 26306, 22483, AGC= 42, IDX= 505, 0.13, 0.911,-0.436,-0.835, 1.037, PHS=-0.025,-1.429,-1.916, RAW=  75.6,  35.0, CAL=  71.2,  42.7, ROT=  78.8, -42.7

2025-09-20T00:08:01.279Z,1758326881.279 [DAT](INFO): got valid direction response:
 00:08:02.1965 LVL= 15552, 16609, 26306, 22483, AGC= 42, IDX= 505, 0.13, 0.911,-0.436,-0.835, 1.037, PHS=-0.025,-1.429,-1.916, RAW=  75.6,  35.0, CAL=  71.2,  42.7, ROT=  78.8, -42.7

2025-09-20T00:08:01.284Z,1758326881.284 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-09-20T00:08:01.285Z,1758326881.285 [DAT](INFO): direction in FSK: [0.142746,0.720918,0.678160]
2025-09-20T00:08:01.286Z,1758326881.286 [DAT](INFO): publishing direction and range info
2025-09-20T00:08:01.294Z,1758326881.294 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.007872
2025-09-20T00:08:01.509Z,1758326881.509 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.222597
2025-09-20T00:08:01.652Z,1758326881.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.500279 s,
      deltaX: -0.200000 m,
      approachRate: -0.399777 m/s,
      rangeRepo size: 4

2025-09-20T00:08:01.656Z,1758326881.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.795209 m,
      bearing: 296.267721 deg,
      lat: 36.779386 deg,
      lon: -121.859714 deg,
      deltaT: 1.509365 s,
      deltaX: -0.199466 m,
      approachRate: -0.132152 m/s,
      posRepo size: 4

2025-09-20T00:08:01.765Z,1758326881.765 [DAT](INFO): DAT read: Rx Time:00:08:02.6966 

2025-09-20T00:08:01.767Z,1758326881.767 [DAT](INFO): Rx dataTimestamp_ set to:1758326881.765864
2025-09-20T00:08:01.771Z,1758326881.771 [DAT](INFO): DAT read: Bearing  72.2,  53.5 (Local)

2025-09-20T00:08:01.772Z,1758326881.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.2,  53.5 (Local)

2025-09-20T00:08:01.776Z,1758326881.776 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:01.780Z,1758326881.780 [DAT](INFO): DAT read: 00:08:02.6966 LVL= 15808, 16673, 20626, 20211, AGC= 44, IDX= 506, 0.29, 2.510, 1.269, 0.782, 2.624, PHS=-0.013,-1.310,-1.887, RAW=  72.5,  34.3, CAL=  67.8,  41.8, ROT=  82.2, -41.8

2025-09-20T00:08:01.781Z,1758326881.781 [DAT](INFO): got valid direction response:
 00:08:02.6966 LVL= 15808, 16673, 20626, 20211, AGC= 44, IDX= 506, 0.29, 2.510, 1.269, 0.782, 2.624, PHS=-0.013,-1.310,-1.887, RAW=  72.5,  34.3, CAL=  67.8,  41.8, ROT=  82.2, -41.8

2025-09-20T00:08:01.782Z,1758326881.782 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-09-20T00:08:01.783Z,1758326881.783 [DAT](INFO): direction in FSK: [0.101173,0.738579,0.666532]
2025-09-20T00:08:01.783Z,1758326881.783 [DAT](INFO): publishing direction and range info
2025-09-20T00:08:01.787Z,1758326881.787 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.500643
2025-09-20T00:08:02.013Z,1758326882.013 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.726404
2025-09-20T00:08:02.144Z,1758326882.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.508096 s,
      deltaX: 0.200000 m,
      approachRate: 0.393626 m/s,
      rangeRepo size: 4

2025-09-20T00:08:02.146Z,1758326882.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.994685 m,
      bearing: 300.118214 deg,
      lat: 36.779386 deg,
      lon: -121.859718 deg,
      deltaT: 0.508096 s,
      deltaX: 0.199476 m,
      approachRate: 0.392594 m/s,
      posRepo size: 4

2025-09-20T00:08:02.266Z,1758326882.266 [DAT](INFO): DAT read: Rx Time:00:08:03.1966 

2025-09-20T00:08:02.266Z,1758326882.266 [DAT](INFO): Rx dataTimestamp_ set to:1758326882.265695
2025-09-20T00:08:02.267Z,1758326882.267 [DAT](INFO): DAT read: Bearing  68.5,  54.6 (Local)

2025-09-20T00:08:02.268Z,1758326882.268 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.5,  54.6 (Local)

2025-09-20T00:08:02.270Z,1758326882.270 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:02.277Z,1758326882.277 [DAT](INFO): DAT read: 00:08:03.1966 LVL= 13760, 16865, 19330, 19987, AGC= 42, IDX= 506,-0.39,-0.951,-2.303,-2.731,-0.964, PHS= 0.115,-1.294,-1.811, RAW=  75.0,  31.5, CAL=  70.2,  39.4, ROT=  79.8, -39.4

2025-09-20T00:08:02.279Z,1758326882.279 [DAT](INFO): got valid direction response:
 00:08:03.1966 LVL= 13760, 16865, 19330, 19987, AGC= 42, IDX= 506,-0.39,-0.951,-2.303,-2.731,-0.964, PHS= 0.115,-1.294,-1.811, RAW=  75.0,  31.5, CAL=  70.2,  39.4, ROT=  79.8, -39.4

2025-09-20T00:08:02.279Z,1758326882.279 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-09-20T00:08:02.281Z,1758326882.281 [DAT](INFO): direction in FSK: [0.136839,0.760521,0.634731]
2025-09-20T00:08:02.282Z,1758326882.282 [DAT](INFO): publishing direction and range info
2025-09-20T00:08:02.289Z,1758326882.289 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.003029
2025-09-20T00:08:02.490Z,1758326882.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.499831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:08:02.491Z,1758326882.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.994685 m,
      bearing: 298.056683 deg,
      lat: 36.779381 deg,
      lon: -121.859728 deg,
      deltaT: 0.499831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:08:02.517Z,1758326882.517 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.230433
2025-09-20T00:08:02.774Z,1758326882.774 [DAT](INFO): DAT read: Rx Time:00:08:03.6966 

2025-09-20T00:08:02.776Z,1758326882.776 [DAT](INFO): Rx dataTimestamp_ set to:1758326882.774628
2025-09-20T00:08:02.780Z,1758326882.780 [DAT](INFO): DAT read: Bearing  65.5,  55.3 (Local)

2025-09-20T00:08:02.781Z,1758326882.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.5,  55.3 (Local)

2025-09-20T00:08:02.787Z,1758326882.787 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:02.824Z,1758326882.824 [DAT](INFO): DAT read: 00:08:03.6966 LVL= 13408, 16449, 21186, 19187, AGC= 40, IDX= 506,-0.35, 0.151,-1.298,-1.712, 0.043, PHS= 0.210,-1.296,-1.799, RAW=  76.1,  29.4, CAL=  72.0,  37.2, ROT=  78.0, -37.2

2025-09-20T00:08:02.825Z,1758326882.825 [DAT](INFO): got valid direction response:
 00:08:03.6966 LVL= 13408, 16449, 21186, 19187, AGC= 40, IDX= 506,-0.35, 0.151,-1.298,-1.712, 0.043, PHS= 0.210,-1.296,-1.799, RAW=  76.1,  29.4, CAL=  72.0,  37.2, ROT=  78.0, -37.2

2025-09-20T00:08:02.825Z,1758326882.825 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-09-20T00:08:02.826Z,1758326882.826 [DAT](INFO): direction in FSK: [0.165608,0.779124,0.604599]
2025-09-20T00:08:02.827Z,1758326882.827 [DAT](INFO): publishing direction and range info
2025-09-20T00:08:02.839Z,1758326882.839 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.552156
2025-09-20T00:08:02.953Z,1758326882.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.508933 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:08:02.955Z,1758326882.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.994685 m,
      bearing: 296.994880 deg,
      lat: 36.779381 deg,
      lon: -121.859730 deg,
      deltaT: 0.508933 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-09-20T00:08:03.022Z,1758326883.022 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.735641
2025-09-20T00:08:03.274Z,1758326883.274 [DAT](INFO): DAT read: Rx Time:00:08:04.1965 

2025-09-20T00:08:03.274Z,1758326883.274 [DAT](INFO): Rx dataTimestamp_ set to:1758326883.273789
2025-09-20T00:08:03.275Z,1758326883.275 [DAT](INFO): DAT read: Bearing  61.9,  53.3 (Local)

2025-09-20T00:08:03.276Z,1758326883.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.9,  53.3 (Local)

2025-09-20T00:08:03.278Z,1758326883.278 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:03.282Z,1758326883.282 [DAT](INFO): DAT read: 00:08:04.1965 LVL= 12960, 14993, 18834, 19267, AGC= 41, IDX= 505,-0.33, 0.534,-1.126,-1.464, 0.365, PHS= 0.271,-1.445,-1.873, RAW=  79.1,  28.7, CAL=  75.8,  36.7, ROT=  74.2, -36.7

2025-09-20T00:08:03.284Z,1758326883.284 [DAT](INFO): got valid direction response:
 00:08:04.1965 LVL= 12960, 14993, 18834, 19267, AGC= 41, IDX= 505,-0.33, 0.534,-1.126,-1.464, 0.365, PHS= 0.271,-1.445,-1.873, RAW=  79.1,  28.7, CAL=  75.8,  36.7, ROT=  74.2, -36.7

2025-09-20T00:08:03.284Z,1758326883.284 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-09-20T00:08:03.285Z,1758326883.285 [DAT](INFO): direction in FSK: [0.218308,0.771483,0.597625]
2025-09-20T00:08:03.285Z,1758326883.285 [DAT](INFO): publishing direction and range info
2025-09-20T00:08:03.293Z,1758326883.293 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.006626
2025-09-20T00:08:03.351Z,1758326883.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.499161 s,
      deltaX: -0.200000 m,
      approachRate: -0.400672 m/s,
      rangeRepo size: 4

2025-09-20T00:08:03.357Z,1758326883.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.795216 m,
      bearing: 294.014806 deg,
      lat: 36.779381 deg,
      lon: -121.859732 deg,
      deltaT: 0.499161 s,
      deltaX: -0.199469 m,
      approachRate: -0.399608 m/s,
      posRepo size: 4

2025-09-20T00:08:03.525Z,1758326883.525 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.238619
2025-09-20T00:08:03.700Z,1758326883.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:08:03.781Z,1758326883.781 [DAT](INFO): DAT read: Rx Time:00:08:04.6966 

2025-09-20T00:08:03.783Z,1758326883.783 [DAT](INFO): Rx dataTimestamp_ set to:1758326883.781770
2025-09-20T00:08:03.787Z,1758326883.787 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:03.789Z,1758326883.789 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-09-20T00:08:03.794Z,1758326883.794 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.505308
2025-09-20T00:08:04.029Z,1758326884.029 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.742556
2025-09-20T00:08:04.216Z,1758326884.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.507981 s,
      deltaX: 0.200000 m,
      approachRate: 0.393716 m/s,
      rangeRepo size: 4

2025-09-20T00:08:04.282Z,1758326884.282 [DAT](INFO): DAT read: Rx Time:00:08:05.1965 

2025-09-20T00:08:04.283Z,1758326884.283 [DAT](INFO): Rx dataTimestamp_ set to:1758326884.282459
2025-09-20T00:08:04.285Z,1758326884.285 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:04.286Z,1758326884.286 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-09-20T00:08:04.287Z,1758326884.287 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.000633
2025-09-20T00:08:04.533Z,1758326884.533 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.246523
2025-09-20T00:08:04.600Z,1758326884.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.500689 s,
      deltaX: -0.200000 m,
      approachRate: -0.399450 m/s,
      rangeRepo size: 4

2025-09-20T00:08:04.797Z,1758326884.797 [DAT](INFO): DAT read: Rx Time:00:08:05.6966 

2025-09-20T00:08:04.799Z,1758326884.799 [DAT](INFO): Rx dataTimestamp_ set to:1758326884.798259
2025-09-20T00:08:04.814Z,1758326884.814 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:04.834Z,1758326884.834 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-09-20T00:08:04.835Z,1758326884.835 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.548849
2025-09-20T00:08:05.037Z,1758326885.037 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.750889
2025-09-20T00:08:05.100Z,1758326885.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.515800 s,
      deltaX: 0.200000 m,
      approachRate: 0.387747 m/s,
      rangeRepo size: 4

2025-09-20T00:08:05.289Z,1758326885.289 [DAT](INFO): DAT read: Rx Time:00:08:06.1965 

2025-09-20T00:08:05.290Z,1758326885.290 [DAT](INFO): Rx dataTimestamp_ set to:1758326885.289298
2025-09-20T00:08:05.291Z,1758326885.291 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:05.291Z,1758326885.291 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-09-20T00:08:05.292Z,1758326885.292 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.006037
2025-09-20T00:08:05.447Z,1758326885.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.491039 s,
      deltaX: -0.200000 m,
      approachRate: -0.407300 m/s,
      rangeRepo size: 4

2025-09-20T00:08:05.541Z,1758326885.541 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.254810
2025-09-20T00:08:05.798Z,1758326885.798 [DAT](INFO): DAT read: Rx Time:00:08:06.6966 

2025-09-20T00:08:05.799Z,1758326885.799 [DAT](INFO): Rx dataTimestamp_ set to:1758326885.798177
2025-09-20T00:08:05.808Z,1758326885.808 [DAT](INFO): DAT read: Bearing  39.0,   8.3 (Local)

2025-09-20T00:08:05.809Z,1758326885.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.0,   8.3 (Local)

2025-09-20T00:08:05.823Z,1758326885.823 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:05.861Z,1758326885.861 [DAT](INFO): DAT read: 00:08:06.6966 LVL= 15456, 15601, 24306, 22899, AGC= 41, IDX= 509, 0.04, 0.006,-1.941,-0.395, 0.413, PHS=-0.305,-2.308,-0.851, RAW= 134.7,  34.3, CAL= 140.8,  45.5, ROT=   9.2, -45.5

2025-09-20T00:08:05.862Z,1758326885.862 [DAT](INFO): got valid direction response:
 00:08:06.6966 LVL= 15456, 15601, 24306, 22899, AGC= 41, IDX= 509, 0.04, 0.006,-1.941,-0.395, 0.413, PHS=-0.305,-2.308,-0.851, RAW= 134.7,  34.3, CAL= 140.8,  45.5, ROT=   9.2, -45.5

2025-09-20T00:08:05.862Z,1758326885.862 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-09-20T00:08:05.863Z,1758326885.863 [DAT](INFO): direction in FSK: [0.691893,0.112062,0.713250]
2025-09-20T00:08:05.863Z,1758326885.863 [DAT](INFO): publishing direction and range info
2025-09-20T00:08:05.875Z,1758326885.875 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.588778
2025-09-20T00:08:06.014Z,1758326886.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.508879 s,
      deltaX: 0.200000 m,
      approachRate: 0.393021 m/s,
      rangeRepo size: 4

2025-09-20T00:08:06.020Z,1758326886.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.994684 m,
      bearing: 222.170239 deg,
      lat: 36.779381 deg,
      lon: -121.859732 deg,
      deltaT: 2.524388 s,
      deltaX: 0.199468 m,
      approachRate: 0.079016 m/s,
      posRepo size: 4

2025-09-20T00:08:06.045Z,1758326886.045 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.758684
2025-09-20T00:08:06.298Z,1758326886.298 [DAT](INFO): DAT read: Rx Time:00:08:07.1966 

2025-09-20T00:08:06.299Z,1758326886.299 [DAT](INFO): Rx dataTimestamp_ set to:1758326886.298642
2025-09-20T00:08:06.301Z,1758326886.301 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:06.302Z,1758326886.302 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-09-20T00:08:06.303Z,1758326886.303 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.016720
2025-09-20T00:08:06.441Z,1758326886.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:08:06.445Z,1758326886.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.500465 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-20T00:08:06.553Z,1758326886.553 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.265694
2025-09-20T00:08:06.805Z,1758326886.805 [DAT](INFO): DAT read: Rx Time:00:08:07.6966 

2025-09-20T00:08:06.806Z,1758326886.806 [DAT](INFO): Rx dataTimestamp_ set to:1758326886.805251
2025-09-20T00:08:06.810Z,1758326886.810 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:06.813Z,1758326886.813 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-09-20T00:08:06.824Z,1758326886.824 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.529018
2025-09-20T00:08:07.066Z,1758326887.066 [DAT](INFO): DAT read: Rx Time:00:08:08.1965 

2025-09-20T00:08:07.067Z,1758326887.067 [DAT](INFO): Rx dataTimestamp_ set to:1758326887.066342
2025-09-20T00:08:07.076Z,1758326887.076 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:07.077Z,1758326887.077 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-09-20T00:08:07.078Z,1758326887.078 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.791218
2025-09-20T00:08:07.300Z,1758326887.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.767700 s,
      deltaX: -0.200000 m,
      approachRate: -0.260518 m/s,
      rangeRepo size: 4

2025-09-20T00:08:07.301Z,1758326887.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.80 m. Lat: 36.779381 Lon: -121.859732 Cable present.
2025-09-20T00:08:07.301Z,1758326887.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-09-20T00:08:07.301Z,1758326887.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-09-20T00:08:07.302Z,1758326887.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-09-20T00:08:07.305Z,1758326887.305 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.018677
2025-09-20T00:08:07.560Z,1758326887.560 [DAT](INFO): DAT read: Rx Time:00:08:08.6966 

2025-09-20T00:08:07.562Z,1758326887.562 [DAT](INFO): Rx dataTimestamp_ set to:1758326887.561092
2025-09-20T00:08:07.564Z,1758326887.564 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.277889
2025-09-20T00:08:07.666Z,1758326887.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-09-20T00:08:07.666Z,1758326887.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-09-20T00:08:07.666Z,1758326887.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-09-20T00:08:07.814Z,1758326887.814 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:07.816Z,1758326887.816 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-09-20T00:08:07.819Z,1758326887.819 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.532089
2025-09-20T00:08:08.066Z,1758326888.066 [DAT](INFO): DAT read: Rx Time:00:08:09.1965 

2025-09-20T00:08:08.067Z,1758326888.067 [DAT](INFO): Rx dataTimestamp_ set to:1758326888.066328
2025-09-20T00:08:08.068Z,1758326888.068 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:08.069Z,1758326888.069 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-09-20T00:08:08.069Z,1758326888.069 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.783070
2025-09-20T00:08:08.102Z,1758326888.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-09-20T00:08:08.103Z,1758326888.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-20T00:08:08.104Z,1758326888.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-09-20T00:08:08.108Z,1758326888.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-20T00:08:08.108Z,1758326888.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-09-20T00:08:08.108Z,1758326888.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-20T00:08:08.108Z,1758326888.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-09-20T00:08:08.108Z,1758326888.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-09-20T00:08:08.108Z,1758326888.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-09-20T00:08:08.108Z,1758326888.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-09-20T00:08:08.109Z,1758326888.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-20T00:08:08.313Z,1758326888.313 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.026585
2025-09-20T00:08:08.426Z,1758326888.426 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-09-20T00:08:08.426Z,1758326888.426 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-09-20T00:08:08.426Z,1758326888.426 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-09-20T00:08:08.426Z,1758326888.426 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-09-20T00:08:08.426Z,1758326888.426 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-09-20T00:08:08.426Z,1758326888.426 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-09-20T00:08:08.427Z,1758326888.427 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-09-20T00:08:08.427Z,1758326888.427 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-09-20T00:08:08.427Z,1758326888.427 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-09-20T00:08:08.428Z,1758326888.428 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-09-20T00:08:08.428Z,1758326888.428 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-09-20T00:08:08.428Z,1758326888.428 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-09-20T00:08:08.428Z,1758326888.428 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-20T00:08:08.428Z,1758326888.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-09-20T00:08:08.428Z,1758326888.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-20T00:08:08.429Z,1758326888.429 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-09-20T00:08:08.429Z,1758326888.429 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-09-20T00:08:08.565Z,1758326888.565 [DAT](INFO): DAT read: Rx Time:00:08:09.6966 

2025-09-20T00:08:08.566Z,1758326888.566 [DAT](INFO): Rx dataTimestamp_ set to:1758326888.565618
2025-09-20T00:08:08.567Z,1758326888.567 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:08.568Z,1758326888.568 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-09-20T00:08:08.569Z,1758326888.569 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.282986
2025-09-20T00:08:08.818Z,1758326888.818 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.531635
2025-09-20T00:08:08.829Z,1758326888.829 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-09-20T00:08:08.829Z,1758326888.829 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-09-20T00:08:08.831Z,1758326888.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:08:09.069Z,1758326889.069 [DAT](INFO): DAT read: Rx Time:00:08:10.1965 

2025-09-20T00:08:09.070Z,1758326889.070 [DAT](INFO): Rx dataTimestamp_ set to:1758326889.069448
2025-09-20T00:08:09.071Z,1758326889.071 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:09.072Z,1758326889.072 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-09-20T00:08:09.073Z,1758326889.073 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.786274
2025-09-20T00:08:09.246Z,1758326889.246 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-09-20T00:08:09.246Z,1758326889.246 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-09-20T00:08:09.246Z,1758326889.246 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-09-20T00:08:09.321Z,1758326889.321 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.034538
2025-09-20T00:08:09.573Z,1758326889.573 [DAT](INFO): DAT read: Rx Time:00:08:10.6966 

2025-09-20T00:08:09.574Z,1758326889.574 [DAT](INFO): Rx dataTimestamp_ set to:1758326889.573230
2025-09-20T00:08:09.575Z,1758326889.575 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:09.575Z,1758326889.575 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-09-20T00:08:09.576Z,1758326889.576 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.289936
2025-09-20T00:08:09.825Z,1758326889.825 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.538570
2025-09-20T00:08:10.077Z,1758326890.077 [DAT](INFO): DAT read: Rx Time:00:08:11.1965 

2025-09-20T00:08:10.077Z,1758326890.077 [DAT](INFO): Rx dataTimestamp_ set to:1758326890.077220
2025-09-20T00:08:10.079Z,1758326890.079 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:10.079Z,1758326890.079 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-09-20T00:08:10.080Z,1758326890.080 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.793949
2025-09-20T00:08:10.329Z,1758326890.329 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.042576
2025-09-20T00:08:10.581Z,1758326890.581 [DAT](INFO): DAT read: Rx Time:00:08:11.6967 

2025-09-20T00:08:10.582Z,1758326890.582 [DAT](INFO): Rx dataTimestamp_ set to:1758326890.581264
2025-09-20T00:08:10.583Z,1758326890.583 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-09-20T00:08:10.583Z,1758326890.583 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-09-20T00:08:10.584Z,1758326890.584 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.298016
2025-09-20T00:08:10.833Z,1758326890.833 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.546661
2025-09-20T00:08:10.840Z,1758326890.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:08:11.085Z,1758326891.085 [DAT](INFO): DAT read: Rx Time:00:08:12.1965 

2025-09-20T00:08:11.086Z,1758326891.086 [DAT](INFO): Rx dataTimestamp_ set to:1758326891.085492
2025-09-20T00:08:11.087Z,1758326891.087 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:11.088Z,1758326891.088 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-09-20T00:08:11.089Z,1758326891.089 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.802197
2025-09-20T00:08:11.337Z,1758326891.337 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.050625
2025-09-20T00:08:11.596Z,1758326891.596 [DAT](INFO): DAT read: Rx Time:00:08:12.6965 

2025-09-20T00:08:11.597Z,1758326891.597 [DAT](INFO): Rx dataTimestamp_ set to:1758326891.596419
2025-09-20T00:08:11.600Z,1758326891.600 [DAT](INFO): DAT read: Bearing  34.7,  27.6 (Local)

2025-09-20T00:08:11.601Z,1758326891.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.7,  27.6 (Local)

2025-09-20T00:08:11.605Z,1758326891.605 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:11.607Z,1758326891.607 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-09-20T00:08:11.621Z,1758326891.621 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.334282
2025-09-20T00:08:11.851Z,1758326891.851 [DAT](INFO): DAT read: 00:08:12.6965 LVL= 20704, 20625, 19234, 23907, AGC= 41, IDX= 509,-0.04, 0.976,-0.970,-0.061, 1.211, PHS=-0.133,-2.136,-1.316, RAW= 114.0,  36.0, CAL= 111.3,  43.6, ROT=  38.7, -43.6

2025-09-20T00:08:11.858Z,1758326891.858 [DAT](INFO): got valid direction response:
 00:08:12.6965 LVL= 20704, 20625, 19234, 23907, AGC= 41, IDX= 509,-0.04, 0.976,-0.970,-0.061, 1.211, PHS=-0.133,-2.136,-1.316, RAW= 114.0,  36.0, CAL= 111.3,  43.6, ROT=  38.7, -43.6

2025-09-20T00:08:11.859Z,1758326891.859 [DAT](INFO): #Rx 76: Read direction message, but no range.
2025-09-20T00:08:11.862Z,1758326891.862 [DAT](INFO): direction in FSK: [0.565166,0.452783,0.689620]
2025-09-20T00:08:11.910Z,1758326891.910 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.622715
2025-09-20T00:08:12.100Z,1758326892.100 [DAT](INFO): DAT read: Rx Time:00:08:13.1964 

2025-09-20T00:08:12.101Z,1758326892.101 [DAT](INFO): Rx dataTimestamp_ set to:1758326892.100625
2025-09-20T00:08:12.104Z,1758326892.104 [DAT](INFO): DAT read: Bearing  34.4,  18.4 (Local)

2025-09-20T00:08:12.105Z,1758326892.105 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.4,  18.4 (Local)

2025-09-20T00:08:12.117Z,1758326892.117 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-09-20T00:08:12.121Z,1758326892.121 [DAT](INFO): DAT read: 00:08:13.1964 LVL= 20032, 21089, 22450, 23443, AGC= 40, IDX= 508, 0.05, 1.196,-0.635, 0.491, 1.597, PHS=-0.298,-2.187,-1.150, RAW= 123.3,  38.1, CAL= 123.5,  47.1, ROT=  26.5, -47.1

2025-09-20T00:08:12.122Z,1758326892.122 [DAT](INFO): got valid direction response:
 00:08:13.1964 LVL= 20032, 21089, 22450, 23443, AGC= 40, IDX= 508, 0.05, 1.196,-0.635, 0.491, 1.597, PHS=-0.298,-2.187,-1.150, RAW= 123.3,  38.1, CAL= 123.5,  47.1, ROT=  26.5, -47.1

2025-09-20T00:08:12.123Z,1758326892.123 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-09-20T00:08:12.132Z,1758326892.132 [DAT](INFO): direction in FSK: [0.609201,0.303736,0.732543]
2025-09-20T00:08:12.133Z,1758326892.133 [DAT](INFO): publishing direction and range info
2025-09-20T00:08:12.147Z,1758326892.147 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.860317
2025-09-20T00:08:12.202Z,1758326892.202 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-09-20T00:08:12.202Z,1758326892.202 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-09-20T00:08:12.202Z,1758326892.202 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-09-20T00:08:12.202Z,1758326892.202 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-09-20T00:08:12.349Z,1758326892.349 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.062984
2025-09-20T00:08:12.470Z,1758326892.470 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-09-20T00:08:12.470Z,1758326892.470 [lineCaptureHoming:LineCapture:M] Stopped
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture] Stopped
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-20T00:08:12.473Z,1758326892.473 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:G] Stopped
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:H] Stopped
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-09-20T00:08:12.474Z,1758326892.474 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-20T00:08:12.601Z,1758326892.601 [DAT](INFO): DAT read: Rx Time:00:08:13.6965 

2025-09-20T00:08:12.602Z,1758326892.602 [DAT](INFO): Rx dataTimestamp_ set to:1758326892.601476
2025-09-20T00:08:12.603Z,1758326892.603 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:12.604Z,1758326892.604 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-09-20T00:08:12.605Z,1758326892.605 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.318211
2025-09-20T00:08:12.853Z,1758326892.853 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.566692
2025-09-20T00:08:12.856Z,1758326892.856 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-09-20T00:08:12.857Z,1758326892.857 [lineCaptureHoming:Lap:B] Stopped
2025-09-20T00:08:12.857Z,1758326892.857 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-09-20T00:08:12.857Z,1758326892.857 [lineCaptureHoming:Lap:C] Running Loop=1
2025-09-20T00:08:12.857Z,1758326892.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:08:13.105Z,1758326893.105 [DAT](INFO): DAT read: Rx Time:00:08:14.1965 

2025-09-20T00:08:13.105Z,1758326893.105 [DAT](INFO): Rx dataTimestamp_ set to:1758326893.105153
2025-09-20T00:08:13.107Z,1758326893.107 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:13.107Z,1758326893.107 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-09-20T00:08:13.108Z,1758326893.108 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.821861
2025-09-20T00:08:13.281Z,1758326893.281 [lineCaptureHoming:Lap:C] Stopped
2025-09-20T00:08:13.281Z,1758326893.281 [lineCaptureHoming:Lap:D] Running Loop=1
2025-09-20T00:08:13.357Z,1758326893.357 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.070816
2025-09-20T00:08:13.613Z,1758326893.613 [DAT](INFO): DAT read: Rx Time:00:08:14.6966 

2025-09-20T00:08:13.614Z,1758326893.614 [DAT](INFO): Rx dataTimestamp_ set to:1758326893.613224
2025-09-20T00:08:13.615Z,1758326893.615 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:13.615Z,1758326893.615 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-09-20T00:08:13.616Z,1758326893.616 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.329952
2025-09-20T00:08:13.702Z,1758326893.702 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-09-20T00:08:13.702Z,1758326893.702 [lineCaptureHoming:Lap:D] Stopped
2025-09-20T00:08:13.702Z,1758326893.702 [lineCaptureHoming:Lap:E] Running Loop=1
2025-09-20T00:08:13.702Z,1758326893.702 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-09-20T00:08:13.862Z,1758326893.862 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.576103
2025-09-20T00:08:14.113Z,1758326894.113 [DAT](INFO): DAT read: Rx Time:00:08:15.1965 

2025-09-20T00:08:14.114Z,1758326894.114 [DAT](INFO): Rx dataTimestamp_ set to:1758326894.113286
2025-09-20T00:08:14.115Z,1758326894.115 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:14.115Z,1758326894.115 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-09-20T00:08:14.117Z,1758326894.117 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.830235
2025-09-20T00:08:14.136Z,1758326894.136 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-09-20T00:08:14.148Z,1758326894.148 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-09-20T00:08:14.148Z,1758326894.148 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-09-20T00:08:14.148Z,1758326894.148 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-09-20T00:08:14.148Z,1758326894.148 [lineCaptureHoming:restartDHCP:A] Stopped
2025-09-20T00:08:14.148Z,1758326894.148 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-09-20T00:08:14.365Z,1758326894.365 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.078636
2025-09-20T00:08:14.475Z,1758326894.475 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-09-20T00:08:14.475Z,1758326894.475 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-09-20T00:08:14.476Z,1758326894.476 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-09-20T00:08:14.476Z,1758326894.476 [lineCaptureHoming:restartDHCP] Stopped
2025-09-20T00:08:14.476Z,1758326894.476 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-09-20T00:08:14.570Z,1758326894.570 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-09-20T00:08:14.618Z,1758326894.618 [DAT](INFO): DAT read: Rx Time:00:08:15.6966 

2025-09-20T00:08:14.618Z,1758326894.618 [DAT](INFO): Rx dataTimestamp_ set to:1758326894.617685
2025-09-20T00:08:14.619Z,1758326894.619 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:14.620Z,1758326894.620 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-09-20T00:08:14.622Z,1758326894.622 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.335114
2025-09-20T00:08:14.869Z,1758326894.869 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.582836
2025-09-20T00:08:15.005Z,1758326895.005 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-09-20T00:08:15.005Z,1758326895.005 [lineCaptureHoming:Lap:E] Stopped
2025-09-20T00:08:15.005Z,1758326895.005 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-09-20T00:08:15.005Z,1758326895.005 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-09-20T00:08:15.005Z,1758326895.005 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-09-20T00:08:15.006Z,1758326895.006 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-09-20T00:08:15.006Z,1758326895.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:08:15.121Z,1758326895.121 [DAT](INFO): DAT read: Rx Time:00:08:16.1965 

2025-09-20T00:08:15.122Z,1758326895.122 [DAT](INFO): Rx dataTimestamp_ set to:1758326895.121385
2025-09-20T00:08:15.123Z,1758326895.123 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:15.124Z,1758326895.124 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-09-20T00:08:15.125Z,1758326895.125 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.838345
2025-09-20T00:08:15.196Z,1758326895.196 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-09-20UTC000815_sh
  
2025-09-20T00:08:15.362Z,1758326895.362 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-09-20T00:08:15.362Z,1758326895.362 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-09-20T00:08:15.362Z,1758326895.362 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-09-20T00:08:15.377Z,1758326895.377 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.090591
2025-09-20T00:08:15.630Z,1758326895.630 [DAT](INFO): DAT read: Rx Time:00:08:16.6965 

2025-09-20T00:08:15.631Z,1758326895.631 [DAT](INFO): Rx dataTimestamp_ set to:1758326895.630311
2025-09-20T00:08:15.633Z,1758326895.633 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:15.634Z,1758326895.634 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-09-20T00:08:15.635Z,1758326895.635 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.349007
2025-09-20T00:08:15.742Z,1758326895.742 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-09-20T00:08:15.742Z,1758326895.742 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-09-20T00:08:15.881Z,1758326895.881 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.594612
2025-09-20T00:08:16.134Z,1758326896.134 [DAT](INFO): DAT read: Rx Time:00:08:17.1965 

2025-09-20T00:08:16.135Z,1758326896.135 [DAT](INFO): Rx dataTimestamp_ set to:1758326896.134241
2025-09-20T00:08:16.137Z,1758326896.137 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:16.138Z,1758326896.138 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-09-20T00:08:16.139Z,1758326896.139 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.852379
2025-09-20T00:08:16.160Z,1758326896.160 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-09-20T00:08:16.161Z,1758326896.161 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-09-20T00:08:16.161Z,1758326896.161 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-09-20T00:08:16.161Z,1758326896.161 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-09-20T00:08:16.385Z,1758326896.385 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.098583
2025-09-20T00:08:16.638Z,1758326896.638 [DAT](INFO): DAT read: Rx Time:00:08:17.6966 

2025-09-20T00:08:16.639Z,1758326896.639 [DAT](INFO): Rx dataTimestamp_ set to:1758326896.637984
2025-09-20T00:08:16.640Z,1758326896.640 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:16.641Z,1758326896.641 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-09-20T00:08:16.643Z,1758326896.643 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.356201
2025-09-20T00:08:16.643Z,1758326896.643 [DAT](INFO): Requesting device enable set for address 50.
2025-09-20T00:08:16.889Z,1758326896.889 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.602657
2025-09-20T00:08:16.889Z,1758326896.889 [DAT](INFO): Requesting device enable set for address 50.
2025-09-20T00:08:17.142Z,1758326897.142 [DAT](INFO): DAT read: Rx Time:00:08:18.1965 

2025-09-20T00:08:17.143Z,1758326897.143 [DAT](INFO): Rx dataTimestamp_ set to:1758326897.142253
2025-09-20T00:08:17.145Z,1758326897.145 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:17.146Z,1758326897.146 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-09-20T00:08:17.147Z,1758326897.147 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.860310
2025-09-20T00:08:17.147Z,1758326897.148 [DAT](INFO): Requesting device enable set for address 50.
2025-09-20T00:08:17.350Z,1758326897.350 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-20T00:08:17.393Z,1758326897.393 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.106640
2025-09-20T00:08:17.469Z,1758326897.469 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-20T00:08:17.645Z,1758326897.645 [DAT](INFO): DAT read: Rx Time:00:08:18.6966 

2025-09-20T00:08:17.646Z,1758326897.646 [DAT](INFO): Rx dataTimestamp_ set to:1758326897.645899
2025-09-20T00:08:17.648Z,1758326897.648 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:17.649Z,1758326897.649 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-09-20T00:08:17.651Z,1758326897.651 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.364529
2025-09-20T00:08:17.897Z,1758326897.897 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.610607
2025-09-20T00:08:18.150Z,1758326898.150 [DAT](INFO): DAT read: Rx Time:00:08:19.1965 

2025-09-20T00:08:18.151Z,1758326898.151 [DAT](INFO): Rx dataTimestamp_ set to:1758326898.150589
2025-09-20T00:08:18.153Z,1758326898.153 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:18.154Z,1758326898.154 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-09-20T00:08:18.155Z,1758326898.155 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.868649
2025-09-20T00:08:18.401Z,1758326898.401 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.114529
2025-09-20T00:08:18.654Z,1758326898.654 [DAT](INFO): DAT read: Rx Time:00:08:19.6966 

2025-09-20T00:08:18.654Z,1758326898.654 [DAT](INFO): Rx dataTimestamp_ set to:1758326898.654014
2025-09-20T00:08:18.655Z,1758326898.655 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:18.656Z,1758326898.656 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-09-20T00:08:18.657Z,1758326898.657 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.370720
2025-09-20T00:08:18.905Z,1758326898.905 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.618477
2025-09-20T00:08:19.157Z,1758326899.157 [DAT](INFO): DAT read: Rx Time:00:08:20.1965 

2025-09-20T00:08:19.158Z,1758326899.158 [DAT](INFO): Rx dataTimestamp_ set to:1758326899.157328
2025-09-20T00:08:19.159Z,1758326899.159 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:19.160Z,1758326899.160 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-09-20T00:08:19.161Z,1758326899.161 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.874195
2025-09-20T00:08:19.371Z,1758326899.371 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-09-20T00:08:19.409Z,1758326899.409 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.123001
2025-09-20T00:08:19.661Z,1758326899.661 [DAT](INFO): DAT read: Rx Time:00:08:20.6966 

2025-09-20T00:08:19.662Z,1758326899.662 [DAT](INFO): Rx dataTimestamp_ set to:1758326899.661352
2025-09-20T00:08:19.663Z,1758326899.663 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:19.663Z,1758326899.663 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-09-20T00:08:19.664Z,1758326899.664 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.378063
2025-09-20T00:08:19.913Z,1758326899.913 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.626503
2025-09-20T00:08:20.165Z,1758326900.165 [DAT](INFO): DAT read: Rx Time:00:08:21.1965 

2025-09-20T00:08:20.166Z,1758326900.166 [DAT](INFO): Rx dataTimestamp_ set to:1758326900.165290
2025-09-20T00:08:20.167Z,1758326900.167 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:20.167Z,1758326900.167 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-09-20T00:08:20.168Z,1758326900.168 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.882015
2025-09-20T00:08:20.417Z,1758326900.417 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.130623
2025-09-20T00:08:20.669Z,1758326900.669 [DAT](INFO): DAT read: Rx Time:00:08:21.6966 

2025-09-20T00:08:20.670Z,1758326900.670 [DAT](INFO): Rx dataTimestamp_ set to:1758326900.669261
2025-09-20T00:08:20.671Z,1758326900.671 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:20.671Z,1758326900.671 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-09-20T00:08:20.672Z,1758326900.672 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.386032
2025-09-20T00:08:20.921Z,1758326900.921 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.634766
2025-09-20T00:08:20.946Z,1758326900.946 [DockingStepper](INFO): Changing to mode: 1
2025-09-20T00:08:21.173Z,1758326901.173 [DAT](INFO): DAT read: Rx Time:00:08:22.1965 

2025-09-20T00:08:21.173Z,1758326901.173 [DAT](INFO): Rx dataTimestamp_ set to:1758326901.173171
2025-09-20T00:08:21.175Z,1758326901.175 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:21.175Z,1758326901.175 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-09-20T00:08:21.176Z,1758326901.176 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.890034
2025-09-20T00:08:21.426Z,1758326901.426 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.139774
2025-09-20T00:08:21.677Z,1758326901.677 [DAT](INFO): DAT read: Rx Time:00:08:22.6966 

2025-09-20T00:08:21.677Z,1758326901.677 [DAT](INFO): Rx dataTimestamp_ set to:1758326901.677142
2025-09-20T00:08:21.679Z,1758326901.679 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:21.679Z,1758326901.679 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-09-20T00:08:21.680Z,1758326901.680 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.393906
2025-09-20T00:08:21.929Z,1758326901.929 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.642605
2025-09-20T00:08:22.181Z,1758326902.181 [DAT](INFO): DAT read: Rx Time:00:08:23.1965 

2025-09-20T00:08:22.181Z,1758326902.181 [DAT](INFO): Rx dataTimestamp_ set to:1758326902.181108
2025-09-20T00:08:22.183Z,1758326902.183 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:22.183Z,1758326902.183 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-09-20T00:08:22.184Z,1758326902.184 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.897827
2025-09-20T00:08:22.433Z,1758326902.433 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.146511
2025-09-20T00:08:22.685Z,1758326902.685 [DAT](INFO): DAT read: Rx Time:00:08:23.6966 

2025-09-20T00:08:22.685Z,1758326902.685 [DAT](INFO): Rx dataTimestamp_ set to:1758326902.685199
2025-09-20T00:08:22.687Z,1758326902.687 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:22.687Z,1758326902.687 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-09-20T00:08:22.688Z,1758326902.688 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.401974
2025-09-20T00:08:22.937Z,1758326902.937 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.650620
2025-09-20T00:08:22.938Z,1758326902.938 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-09-20T00:08:22.939Z,1758326902.939 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-09-20T00:08:22.940Z,1758326902.940 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-09-20T00:08:22.940Z,1758326902.940 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-09-20T00:08:22.941Z,1758326902.941 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-09-20T00:08:22.942Z,1758326902.942 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-09-20T00:08:22.943Z,1758326902.943 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-09-20T00:08:22.944Z,1758326902.944 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-09-20T00:08:22.944Z,1758326902.944 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2025-09-20T00:08:22.951Z,1758326902.951 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 33, 34, 35, 36, 37, 38, 39, 44, 54, 58, 62.
2025-09-20T00:08:23.189Z,1758326903.189 [DAT](INFO): DAT read: Rx Time:00:08:24.1966 

2025-09-20T00:08:23.190Z,1758326903.190 [DAT](INFO): Rx dataTimestamp_ set to:1758326903.189506
2025-09-20T00:08:23.191Z,1758326903.191 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:23.192Z,1758326903.192 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-09-20T00:08:23.193Z,1758326903.193 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.906204
2025-09-20T00:08:23.446Z,1758326903.446 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.159164
2025-09-20T00:08:23.697Z,1758326903.697 [DAT](INFO): DAT read: Rx Time:00:08:24.6966 

2025-09-20T00:08:23.697Z,1758326903.697 [DAT](INFO): Rx dataTimestamp_ set to:1758326903.697176
2025-09-20T00:08:23.699Z,1758326903.699 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:23.699Z,1758326903.699 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-09-20T00:08:23.704Z,1758326903.704 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.417377
2025-09-20T00:08:23.949Z,1758326903.949 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.662834
2025-09-20T00:08:24.201Z,1758326904.201 [DAT](INFO): DAT read: Rx Time:00:08:25.1965 

2025-09-20T00:08:24.202Z,1758326904.202 [DAT](INFO): Rx dataTimestamp_ set to:1758326904.201378
2025-09-20T00:08:24.203Z,1758326904.203 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:24.204Z,1758326904.204 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-09-20T00:08:24.205Z,1758326904.205 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.918221
2025-09-20T00:08:24.453Z,1758326904.453 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.166599
2025-09-20T00:08:24.705Z,1758326904.705 [DAT](INFO): DAT read: Rx Time:00:08:25.6966 

2025-09-20T00:08:24.706Z,1758326904.706 [DAT](INFO): Rx dataTimestamp_ set to:1758326904.705497
2025-09-20T00:08:24.707Z,1758326904.707 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:24.708Z,1758326904.708 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-09-20T00:08:24.709Z,1758326904.709 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.422798
2025-09-20T00:08:24.957Z,1758326904.957 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.671150
2025-09-20T00:08:25.209Z,1758326905.209 [DAT](INFO): DAT read: Rx Time:00:08:26.1965 

2025-09-20T00:08:25.209Z,1758326905.209 [DAT](INFO): Rx dataTimestamp_ set to:1758326905.209191
2025-09-20T00:08:25.211Z,1758326905.211 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:25.211Z,1758326905.211 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-09-20T00:08:25.212Z,1758326905.212 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.926018
2025-09-20T00:08:25.366Z,1758326905.366 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS3561026,35.0, +11.9,   0.0,1496.8,  0
2025-09-20T00:08:25.463Z,1758326905.463 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.176151
2025-09-20T00:08:25.714Z,1758326905.714 [DAT](INFO): DAT read: Rx Time:00:08:26.6966 

2025-09-20T00:08:25.714Z,1758326905.714 [DAT](INFO): Rx dataTimestamp_ set to:1758326905.713894
2025-09-20T00:08:25.715Z,1758326905.715 [DAT](INFO): DAT read: Bearing  34.5,  14.1 (Local)

2025-09-20T00:08:25.716Z,1758326905.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.5,  14.1 (Local)

2025-09-20T00:08:25.718Z,1758326905.718 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:25.726Z,1758326905.726 [DAT](INFO): DAT read: 00:08:26.6966 LVL= 17952, 19361, 21042, 20243, AGC= 41, IDX= 510, 0.09,-1.249,-3.074,-1.808,-0.819, PHS=-0.328,-2.211,-1.033, RAW= 128.2,  37.5, CAL= 131.5,  47.4, ROT=  18.5, -47.4

2025-09-20T00:08:25.727Z,1758326905.727 [DAT](INFO): got valid direction response:
 00:08:26.6966 LVL= 17952, 19361, 21042, 20243, AGC= 41, IDX= 510, 0.09,-1.249,-3.074,-1.808,-0.819, PHS=-0.328,-2.211,-1.033, RAW= 128.2,  37.5, CAL= 131.5,  47.4, ROT=  18.5, -47.4

2025-09-20T00:08:25.727Z,1758326905.727 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-09-20T00:08:25.729Z,1758326905.729 [DAT](INFO): direction in FSK: [0.641897,0.214776,0.736097]
2025-09-20T00:08:25.729Z,1758326905.729 [DAT](INFO): publishing direction and range info
2025-09-20T00:08:25.759Z,1758326905.759 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.472809
2025-09-20T00:08:25.965Z,1758326905.965 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.678570
2025-09-20T00:08:26.225Z,1758326906.225 [DAT](INFO): DAT read: Rx Time:00:08:27.1966 

2025-09-20T00:08:26.226Z,1758326906.226 [DAT](INFO): Rx dataTimestamp_ set to:1758326906.225246
2025-09-20T00:08:26.227Z,1758326906.227 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:26.227Z,1758326906.227 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-09-20T00:08:26.228Z,1758326906.228 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.942020
2025-09-20T00:08:26.477Z,1758326906.477 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.190575
2025-09-20T00:08:26.730Z,1758326906.730 [DAT](INFO): DAT read: Rx Time:00:08:27.6967 

2025-09-20T00:08:26.730Z,1758326906.730 [DAT](INFO): Rx dataTimestamp_ set to:1758326906.729775
2025-09-20T00:08:26.732Z,1758326906.732 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-09-20T00:08:26.733Z,1758326906.733 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-09-20T00:08:26.734Z,1758326906.734 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.447800
2025-09-20T00:08:26.981Z,1758326906.981 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.695084
2025-09-20T00:08:27.233Z,1758326907.233 [DAT](INFO): DAT read: Rx Time:00:08:28.1966 

2025-09-20T00:08:27.234Z,1758326907.234 [DAT](INFO): Rx dataTimestamp_ set to:1758326907.233250
2025-09-20T00:08:27.235Z,1758326907.235 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:27.235Z,1758326907.235 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-09-20T00:08:27.236Z,1758326907.236 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.949970
2025-09-20T00:08:27.485Z,1758326907.485 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.198734
2025-09-20T00:08:27.738Z,1758326907.738 [DAT](INFO): DAT read: Rx Time:00:08:28.6966 

2025-09-20T00:08:27.738Z,1758326907.738 [DAT](INFO): Rx dataTimestamp_ set to:1758326907.737882
2025-09-20T00:08:27.743Z,1758326907.743 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:27.743Z,1758326907.743 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-09-20T00:08:27.745Z,1758326907.745 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.458202
2025-09-20T00:08:27.989Z,1758326907.989 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.702553
2025-09-20T00:08:28.241Z,1758326908.241 [DAT](INFO): DAT read: Rx Time:00:08:29.1965 

2025-09-20T00:08:28.242Z,1758326908.242 [DAT](INFO): Rx dataTimestamp_ set to:1758326908.241291
2025-09-20T00:08:28.243Z,1758326908.243 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:28.243Z,1758326908.243 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-09-20T00:08:28.244Z,1758326908.244 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.958023
2025-09-20T00:08:28.493Z,1758326908.493 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.206600
2025-09-20T00:08:28.745Z,1758326908.745 [DAT](INFO): DAT read: Rx Time:00:08:29.6966 

2025-09-20T00:08:28.746Z,1758326908.746 [DAT](INFO): Rx dataTimestamp_ set to:1758326908.745863
2025-09-20T00:08:28.748Z,1758326908.748 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:28.749Z,1758326908.749 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-09-20T00:08:28.750Z,1758326908.750 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.463402
2025-09-20T00:08:28.997Z,1758326908.997 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.710655
2025-09-20T00:08:29.249Z,1758326909.249 [DAT](INFO): DAT read: Rx Time:00:08:30.1964 

2025-09-20T00:08:29.250Z,1758326909.250 [DAT](INFO): Rx dataTimestamp_ set to:1758326909.249486
2025-09-20T00:08:29.251Z,1758326909.251 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-09-20T00:08:29.252Z,1758326909.252 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-09-20T00:08:29.253Z,1758326909.253 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.966213
2025-09-20T00:08:29.509Z,1758326909.509 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.222244
2025-09-20T00:08:29.761Z,1758326909.761 [DAT](INFO): DAT read: Rx Time:00:08:30.6966 

2025-09-20T00:08:29.761Z,1758326909.761 [DAT](INFO): Rx dataTimestamp_ set to:1758326909.761133
2025-09-20T00:08:29.763Z,1758326909.763 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:29.763Z,1758326909.763 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-09-20T00:08:29.764Z,1758326909.764 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.477852
2025-09-20T00:08:30.013Z,1758326910.013 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.726555
2025-09-20T00:08:30.265Z,1758326910.265 [DAT](INFO): DAT read: Rx Time:00:08:31.1965 

2025-09-20T00:08:30.266Z,1758326910.266 [DAT](INFO): Rx dataTimestamp_ set to:1758326910.265316
2025-09-20T00:08:30.267Z,1758326910.267 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:30.267Z,1758326910.267 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-09-20T00:08:30.268Z,1758326910.268 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.982063
2025-09-20T00:08:30.517Z,1758326910.517 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.230568
2025-09-20T00:08:30.769Z,1758326910.769 [DAT](INFO): DAT read: Rx Time:00:08:31.6966 

2025-09-20T00:08:30.770Z,1758326910.770 [DAT](INFO): Rx dataTimestamp_ set to:1758326910.769503
2025-09-20T00:08:30.771Z,1758326910.771 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:30.772Z,1758326910.772 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-09-20T00:08:30.773Z,1758326910.773 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.486225
2025-09-20T00:08:30.981Z,1758326910.981 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T00:08:31.021Z,1758326911.021 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.734543
2025-09-20T00:08:31.273Z,1758326911.273 [DAT](INFO): DAT read: Rx Time:00:08:32.1965 

2025-09-20T00:08:31.273Z,1758326911.273 [DAT](INFO): Rx dataTimestamp_ set to:1758326911.273149
2025-09-20T00:08:31.275Z,1758326911.275 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:31.275Z,1758326911.275 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-09-20T00:08:31.276Z,1758326911.276 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.989868
2025-09-20T00:08:31.526Z,1758326911.526 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.239452
2025-09-20T00:08:31.777Z,1758326911.777 [DAT](INFO): DAT read: Rx Time:00:08:32.6965 

2025-09-20T00:08:31.778Z,1758326911.778 [DAT](INFO): Rx dataTimestamp_ set to:1758326911.777261
2025-09-20T00:08:31.779Z,1758326911.779 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:31.779Z,1758326911.779 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-09-20T00:08:31.780Z,1758326911.780 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.493992
2025-09-20T00:08:31.984Z,1758326911.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T00:08:32.029Z,1758326912.029 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.742493
2025-09-20T00:08:32.281Z,1758326912.281 [DAT](INFO): DAT read: Rx Time:00:08:33.1964 

2025-09-20T00:08:32.282Z,1758326912.282 [DAT](INFO): Rx dataTimestamp_ set to:1758326912.281335
2025-09-20T00:08:32.283Z,1758326912.283 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-09-20T00:08:32.283Z,1758326912.283 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-09-20T00:08:32.285Z,1758326912.285 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.998291
2025-09-20T00:08:32.533Z,1758326912.533 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.246635
2025-09-20T00:08:32.785Z,1758326912.785 [DAT](INFO): DAT read: Rx Time:00:08:33.6966 

2025-09-20T00:08:32.785Z,1758326912.785 [DAT](INFO): Rx dataTimestamp_ set to:1758326912.785205
2025-09-20T00:08:32.787Z,1758326912.787 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:32.787Z,1758326912.787 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-09-20T00:08:32.788Z,1758326912.788 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.501949
2025-09-20T00:08:33.037Z,1758326913.037 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.750458
2025-09-20T00:08:33.289Z,1758326913.289 [DAT](INFO): DAT read: Rx Time:00:08:34.1965 

2025-09-20T00:08:33.290Z,1758326913.290 [DAT](INFO): Rx dataTimestamp_ set to:1758326913.289239
2025-09-20T00:08:33.291Z,1758326913.291 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:33.291Z,1758326913.291 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-09-20T00:08:33.292Z,1758326913.292 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.005981
2025-09-20T00:08:33.542Z,1758326913.542 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.254894
2025-09-20T00:08:33.793Z,1758326913.793 [DAT](INFO): DAT read: Rx Time:00:08:34.6966 

2025-09-20T00:08:33.793Z,1758326913.793 [DAT](INFO): Rx dataTimestamp_ set to:1758326913.793202
2025-09-20T00:08:33.795Z,1758326913.795 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:33.795Z,1758326913.795 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-09-20T00:08:33.796Z,1758326913.796 [DAT](INFO): ****** received valid address query ******
2025-09-20T00:08:33.796Z,1758326913.796 [DAT](INFO): ****** received valid ping request ******
2025-09-20T00:08:33.796Z,1758326913.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:08:34.045Z,1758326914.045 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:34.297Z,1758326914.297 [DAT](INFO): DAT read: Rx Time:00:08:35.1965 

2025-09-20T00:08:34.298Z,1758326914.298 [DAT](INFO): Rx dataTimestamp_ set to:1758326914.297258
2025-09-20T00:08:34.299Z,1758326914.299 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:34.299Z,1758326914.299 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:08:34.300Z,1758326914.300 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:34.300Z,1758326914.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:08:34.549Z,1758326914.549 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:34.801Z,1758326914.801 [DAT](INFO): DAT read: Rx Time:00:08:35.6966 

2025-09-20T00:08:34.802Z,1758326914.802 [DAT](INFO): Rx dataTimestamp_ set to:1758326914.801250
2025-09-20T00:08:34.803Z,1758326914.803 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-09-20T00:08:34.803Z,1758326914.803 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:08:34.804Z,1758326914.804 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:34.804Z,1758326914.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:08:35.053Z,1758326915.053 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:35.305Z,1758326915.305 [DAT](INFO): DAT read: Rx Time:00:08:36.1965 

2025-09-20T00:08:35.305Z,1758326915.305 [DAT](INFO): Rx dataTimestamp_ set to:1758326915.305204
2025-09-20T00:08:35.307Z,1758326915.307 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:35.307Z,1758326915.307 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:08:35.308Z,1758326915.308 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:35.308Z,1758326915.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:08:35.561Z,1758326915.561 [DAT](INFO): DAT read: Rx Time:00:08:36.6965 

2025-09-20T00:08:35.562Z,1758326915.562 [DAT](INFO): Rx dataTimestamp_ set to:1758326915.561244
2025-09-20T00:08:35.563Z,1758326915.563 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:35.809Z,1758326915.809 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:35.810Z,1758326915.810 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:08:35.811Z,1758326915.811 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:35.811Z,1758326915.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:08:36.063Z,1758326916.063 [DAT](INFO): DAT read: Rx Time:00:08:37.1965 

2025-09-20T00:08:36.063Z,1758326916.063 [DAT](INFO): Rx dataTimestamp_ set to:1758326916.062718
2025-09-20T00:08:36.064Z,1758326916.064 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-09-20T00:08:36.065Z,1758326916.065 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:08:36.066Z,1758326916.066 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:36.066Z,1758326916.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:08:36.313Z,1758326916.313 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:36.565Z,1758326916.565 [DAT](INFO): DAT read: user:744>

2025-09-20T00:08:36.565Z,1758326916.565 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:08:36.817Z,1758326916.817 [DAT](INFO): DAT read: 50

2025-09-20T00:08:36.817Z,1758326916.817 [DAT](INFO): unknown deviceResponse_: 50

2025-09-20T00:08:36.818Z,1758326916.818 [DAT](INFO): DAT read: Ok

2025-09-20T00:08:36.818Z,1758326916.818 [DAT](INFO): unknown deviceResponse_: Ok

2025-09-20T00:08:36.818Z,1758326916.818 [DAT](INFO): DAT read: user:745>

2025-09-20T00:08:36.819Z,1758326916.819 [DAT](INFO): DAT read: Tx time:00:08:38.2097

2025-09-20T00:08:36.819Z,1758326916.819 [DAT](INFO): Ping request sent.
2025-09-20T00:08:36.819Z,1758326916.819 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:08:36.820Z,1758326916.820 [DAT](INFO): publishing transmit ping time
2025-09-20T00:08:36.820Z,1758326916.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000880
2025-09-20T00:08:37.069Z,1758326917.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249554
2025-09-20T00:08:37.321Z,1758326917.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501441
2025-09-20T00:08:37.573Z,1758326917.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753761
2025-09-20T00:08:37.825Z,1758326917.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005442
2025-09-20T00:08:38.077Z,1758326918.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257550
2025-09-20T00:08:38.329Z,1758326918.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509523
2025-09-20T00:08:38.581Z,1758326918.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761427
2025-09-20T00:08:38.833Z,1758326918.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013346
2025-09-20T00:08:39.088Z,1758326919.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268621
2025-09-20T00:08:39.339Z,1758326919.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519436
2025-09-20T00:08:39.590Z,1758326919.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770224
2025-09-20T00:08:39.841Z,1758326919.841 [DAT](INFO): DAT read: Rx Time:00:08:40.6161

2025-09-20T00:08:39.841Z,1758326919.841 [DAT](INFO): Rx dataTimestamp_ set to:1758326919.841154
2025-09-20T00:08:39.842Z,1758326919.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022549
2025-09-20T00:08:40.094Z,1758326920.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273982
2025-09-20T00:08:40.346Z,1758326920.346 [DAT](INFO): DAT read: Range 11 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-09-20T00:08:40.347Z,1758326920.347 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:09:30.429Z,1758326970.429 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,-32768,-32768,V
2025-09-20T00:10:15.292Z,1758327015.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:10:15.441Z,1758327015.441 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:10:15.441Z,1758327015.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:10:15.695Z,1758327015.695 [DAT](INFO): DAT read: user:746>

2025-09-20T00:10:15.698Z,1758327015.698 [DAT](INFO): DAT read: Tx time:00:10:17.0092

2025-09-20T00:10:15.698Z,1758327015.698 [DAT](INFO): Ping request sent.
2025-09-20T00:10:15.699Z,1758327015.699 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:10:15.699Z,1758327015.699 [DAT](INFO): publishing transmit ping time
2025-09-20T00:10:15.704Z,1758327015.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004663
2025-09-20T00:10:15.945Z,1758327015.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246379
2025-09-20T00:10:16.197Z,1758327016.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498404
2025-09-20T00:10:16.449Z,1758327016.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750440
2025-09-20T00:10:16.702Z,1758327016.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002780
2025-09-20T00:10:16.953Z,1758327016.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254505
2025-09-20T00:10:17.205Z,1758327017.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506482
2025-09-20T00:10:17.457Z,1758327017.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758363
2025-09-20T00:10:17.709Z,1758327017.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011021
2025-09-20T00:10:17.961Z,1758327017.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262458
2025-09-20T00:10:18.213Z,1758327018.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514325
2025-09-20T00:10:18.465Z,1758327018.465 [DAT](INFO): DAT read: Rx Time:00:10:19.4155

2025-09-20T00:10:18.465Z,1758327018.465 [DAT](INFO): Rx dataTimestamp_ set to:1758327018.465111
2025-09-20T00:10:18.466Z,1758327018.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767471
2025-09-20T00:10:18.717Z,1758327018.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018622
2025-09-20T00:10:18.971Z,1758327018.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272258
2025-09-20T00:10:19.222Z,1758327019.222 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-09-20T00:10:19.222Z,1758327019.222 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:11:44.165Z,1758327104.165 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,     ,  20.00,1154.00
2025-09-20T00:11:55.883Z,1758327115.883 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-09-20T00:01:55.8Z
2025-09-20T00:11:55.883Z,1758327115.883 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-09-20T00:11:55.884Z,1758327115.884 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-09-20T00:11:55.884Z,1758327115.884 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-09-20T00:11:55.884Z,1758327115.884 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-20T00:11:55.884Z,1758327115.884 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-09-20T00:11:56.358Z,1758327116.358 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-09-20T00:11:56.358Z,1758327116.358 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-09-20T00:11:56.358Z,1758327116.358 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-09-20T00:11:56.358Z,1758327116.358 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-20T00:11:56.358Z,1758327116.358 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-09-20T00:12:15.755Z,1758327135.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T00:12:15.769Z,1758327135.769 [DAT](DEBUG): Acoustic response timeout
2025-09-20T00:12:15.769Z,1758327135.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T00:12:16.021Z,1758327136.021 [DAT](INFO): DAT read: user:747>

2025-09-20T00:12:16.022Z,1758327136.022 [DAT](INFO): DAT read: Tx time:00:12:17.3587

2025-09-20T00:12:16.022Z,1758327136.022 [DAT](INFO): Ping request sent.
2025-09-20T00:12:16.022Z,1758327136.022 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:12:16.022Z,1758327136.022 [DAT](INFO): publishing transmit ping time
2025-09-20T00:12:16.023Z,1758327136.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-09-20T00:12:16.273Z,1758327136.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250697
2025-09-20T00:12:16.527Z,1758327136.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504712
2025-09-20T00:12:16.777Z,1758327136.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754610
2025-09-20T00:12:17.029Z,1758327137.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006685
2025-09-20T00:12:17.283Z,1758327137.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260646
2025-09-20T00:12:17.542Z,1758327137.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519315
2025-09-20T00:12:17.790Z,1758327137.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767447
2025-09-20T00:12:18.041Z,1758327138.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018645
2025-09-20T00:12:18.293Z,1758327138.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270937
2025-09-20T00:12:18.548Z,1758327138.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525065
2025-09-20T00:12:18.799Z,1758327138.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776602
2025-09-20T00:12:19.049Z,1758327139.049 [DAT](INFO): DAT read: Rx Time:00:12:19.7650

2025-09-20T00:12:19.049Z,1758327139.049 [DAT](INFO): Rx dataTimestamp_ set to:1758327139.049094
2025-09-20T00:12:19.050Z,1758327139.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027696
2025-09-20T00:12:19.303Z,1758327139.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281006
2025-09-20T00:12:19.562Z,1758327139.562 [DAT](INFO): DAT read: Range 11 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-09-20T00:12:19.564Z,1758327139.564 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T00:13:16.299Z,1758327196.299 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-09-20T00:08:16.2Z
2025-09-20T00:13:16.299Z,1758327196.299 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-09-20T00:13:16.300Z,1758327196.300 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-09-20T00:13:16.302Z,1758327196.302 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-09-20T00:13:16.302Z,1758327196.302 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-09-20T00:13:16.732Z,1758327196.732 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-09-20T00:13:16.732Z,1758327196.732 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-09-20T00:13:16.732Z,1758327196.732 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-09-20T00:13:16.732Z,1758327196.732 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-09-20T00:13:16.733Z,1758327196.733 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-09-20T00:13:16.733Z,1758327196.733 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-09-20T00:13:17.100Z,1758327197.100 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-09-20T00:13:17.101Z,1758327197.101 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-09-20T00:13:17.101Z,1758327197.101 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-09-20T00:13:17.101Z,1758327197.101 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-09-20T00:13:17.102Z,1758327197.102 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-09-20T00:13:17.102Z,1758327197.102 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-09-20T00:13:17.102Z,1758327197.102 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-09-20T00:13:17.102Z,1758327197.102 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-09-20T00:13:17.102Z,1758327197.102 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-09-20T00:13:17.102Z,1758327197.102 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-09-20T00:13:17.542Z,1758327197.542 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-09-20T00:13:17.542Z,1758327197.542 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-09-20T00:13:17.542Z,1758327197.542 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-09-20T00:13:17.543Z,1758327197.543 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-09-20T00:13:17.543Z,1758327197.543 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-09-20T00:13:17.543Z,1758327197.543 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-09-20T00:13:17.543Z,1758327197.543 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-09-20T00:13:17.543Z,1758327197.543 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-09-20T00:13:17.543Z,1758327197.543 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-09-20T00:13:17.543Z,1758327197.543 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-20T00:13:17.544Z,1758327197.544 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-09-20T00:13:17.544Z,1758327197.544 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-09-20T00:13:17.544Z,1758327197.544 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-09-20T00:13:17.545Z,1758327197.545 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-09-20T00:13:17.545Z,1758327197.545 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-09-20T00:13:17.545Z,1758327197.545 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-09-20T00:13:17.545Z,1758327197.545 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-09-20T00:13:17.917Z,1758327197.917 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked] Stopped
2025-09-20T00:13:17.918Z,1758327197.918 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-09-20T00:13:17.919Z,1758327197.919 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-09-20T00:13:17.919Z,1758327197.919 [lineCaptureHoming:Lap] Stopped
2025-09-20T00:13:17.919Z,1758327197.919 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-09-20T00:13:17.923Z,1758327197.923 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-09-20T00:13:17.924Z,1758327197.924 [MissionManager](INFO): lineCaptureHoming is completed.
2025-09-20T00:13:17.924Z,1758327197.924 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-09-20T00:13:17.924Z,1758327197.924 [lineCaptureHoming] Stopped
2025-09-20T00:13:17.924Z,1758327197.924 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-09-20T00:13:17.924Z,1758327197.924 [lineCaptureHoming:Science] Stopped
2025-09-20T00:13:17.924Z,1758327197.924 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-09-20T00:13:17.924Z,1758327197.924 [lineCaptureHoming:Science:B] Stopped
2025-09-20T00:13:17.924Z,1758327197.924 [lineCaptureHoming:Science:C] Stopped
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:Science:E] Stopped
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-20T00:13:17.925Z,1758327197.925 [lineCaptureHoming:MicromodemComms] Stopped
2025-09-20T00:13:17.926Z,1758327197.926 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-09-20T00:13:17.926Z,1758327197.926 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-09-20T00:13:17.926Z,1758327197.926 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-20T00:13:17.926Z,1758327197.926 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-09-20T00:13:17.926Z,1758327197.926 [lineCaptureHoming:TrackAC.] Stopped
2025-09-20T00:13:17.926Z,1758327197.926 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-09-20T00:13:18.002Z,1758327198.002 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-09-20T00:13:18.160Z,1758327198.160 [WetLabsBB2FL](INFO): Powering down
2025-09-20T00:13:18.293Z,1758327198.293 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-09-20T00:13:18.293Z,1758327198.293 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-09-20T00:13:18.301Z,1758327198.301 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-09-20T00:13:18.325Z,1758327198.325 [DAT](INFO): DAT read: user:748>

2025-09-20T00:13:18.326Z,1758327198.326 [DAT](INFO): DAT read: Tx time:00:13:19.6575

2025-09-20T00:13:18.326Z,1758327198.326 [DAT](INFO): Ping request sent.
2025-09-20T00:13:18.326Z,1758327198.326 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:13:18.326Z,1758327198.326 [DAT](INFO): publishing transmit ping time
2025-09-20T00:13:20.593Z,1758327200.593 [DAT](INFO): DAT read: Rx Time:00:13:21.5450

2025-09-20T00:13:20.593Z,1758327200.593 [DAT](INFO): Rx dataTimestamp_ set to:1758327200.593224
2025-09-20T00:13:21.097Z,1758327201.097 [DAT](INFO): DAT read: OK

2025-09-20T00:13:21.097Z,1758327201.097 [DAT](INFO): unknown deviceResponse_: OK

2025-09-20T00:13:21.349Z,1758327201.349 [DAT](INFO): DAT read: user:749>

2025-09-20T00:13:21.350Z,1758327201.350 [DAT](INFO): DAT read: Tx time:00:13:22.6575

2025-09-20T00:13:21.350Z,1758327201.350 [DAT](INFO): Ping request sent.
2025-09-20T00:13:21.350Z,1758327201.350 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:13:21.350Z,1758327201.350 [DAT](INFO): publishing transmit ping time
2025-09-20T00:13:23.004Z,1758327203.004 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <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>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-09-20T00:13:23.010Z,1758327203.010 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-09-20T00:13:23.022Z,1758327203.022 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-09-20T00:13:23.025Z,1758327203.025 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-09-20T00:13:23.027Z,1758327203.027 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-09-20T00:13:23.029Z,1758327203.029 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-09-20T00:13:23.032Z,1758327203.032 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-09-20T00:13:23.034Z,1758327203.034 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-09-20T00:13:23.037Z,1758327203.037 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-09-20T00:13:23.039Z,1758327203.039 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-09-20T00:13:23.042Z,1758327203.042 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-09-20T00:13:23.044Z,1758327203.044 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-09-20T00:13:23.046Z,1758327203.046 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-09-20T00:13:23.048Z,1758327203.048 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-09-20T00:13:23.049Z,1758327203.049 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-20T00:13:23.049Z,1758327203.049 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-20T00:13:23.050Z,1758327203.050 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-20T00:13:23.181Z,1758327203.181 [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>

2025-09-20T00:13:23.185Z,1758327203.185 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-20T00:13:23.187Z,1758327203.187 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-20T00:13:23.190Z,1758327203.190 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-20T00:13:23.192Z,1758327203.192 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-20T00:13:23.193Z,1758327203.193 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-20T00:13:23.199Z,1758327203.199 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-20T00:13:23.205Z,1758327203.205 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-20T00:13:23.216Z,1758327203.216 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-09-20T00:13:23.216Z,1758327203.216 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-09-20T00:13:23.217Z,1758327203.217 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-09-20T00:13:23.272Z,1758327203.272 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-09-20T00:13:23.275Z,1758327203.275 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-09-20T00:13:23.285Z,1758327203.285 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-09-20T00:13:23.287Z,1758327203.287 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-09-20T00:13:23.287Z,1758327203.287 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-09-20T00:13:23.289Z,1758327203.289 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-09-20T00:13:23.507Z,1758327203.507 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-09-20T00:13:23.522Z,1758327203.522 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-09-20T00:13:23.528Z,1758327203.528 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-09-20T00:13:23.535Z,1758327203.535 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-09-20T00:13:23.561Z,1758327203.561 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-09-20T00:13:23.563Z,1758327203.563 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-09-20T00:13:23.581Z,1758327203.581 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-09-20T00:13:23.585Z,1758327203.585 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-09-20T00:13:23.587Z,1758327203.587 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-09-20T00:13:23.587Z,1758327203.587 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-09-20T00:13:23.602Z,1758327203.602 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-09-20T00:13:23.617Z,1758327203.617 [DAT](INFO): DAT read: Rx Time:00:13:24.5451

2025-09-20T00:13:23.618Z,1758327203.618 [DAT](INFO): Rx dataTimestamp_ set to:1758327203.617449
2025-09-20T00:13:24.121Z,1758327204.121 [DAT](INFO): DAT read: OK

2025-09-20T00:13:24.121Z,1758327204.121 [DAT](INFO): unknown deviceResponse_: OK

2025-09-20T00:13:24.121Z,1758327204.121 [DAT](INFO): DAT read: user:750>

2025-09-20T00:13:24.373Z,1758327204.373 [DAT](INFO): DAT read: Tx time:00:13:25.6575

2025-09-20T00:13:24.374Z,1758327204.374 [DAT](INFO): Ping request sent.
2025-09-20T00:13:24.374Z,1758327204.374 [DAT](INFO): transmitted an acoustic signal
2025-09-20T00:13:24.374Z,1758327204.374 [DAT](INFO): publishing transmit ping time
2025-09-20T00:13:26.645Z,1758327206.645 [DAT](INFO): DAT read: Rx Time:00:13:27.5452

2025-09-20T00:13:26.646Z,1758327206.646 [DAT](INFO): Rx dataTimestamp_ set to:1758327206.645490
2025-09-20T00:13:27.149Z,1758327207.149 [DAT](INFO): DAT read: OK

2025-09-20T00:13:27.149Z,1758327207.149 [DAT](INFO): unknown deviceResponse_: OK

2025-09-20T00:13:27.632Z,1758327207.632 [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>

2025-09-20T00:13:27.673Z,1758327207.673 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-09-20T00:13:27.675Z,1758327207.675 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-09-20T00:13:27.677Z,1758327207.677 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-09-20T00:13:27.679Z,1758327207.679 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-09-20T00:13:27.681Z,1758327207.681 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-09-20T00:13:27.683Z,1758327207.683 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-09-20T00:13:27.685Z,1758327207.685 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-09-20T00:13:27.687Z,1758327207.687 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-09-20T00:13:27.689Z,1758327207.689 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-09-20T00:13:27.691Z,1758327207.691 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-09-20T00:13:27.693Z,1758327207.693 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-09-20T00:13:27.695Z,1758327207.695 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-09-20T00:13:27.697Z,1758327207.697 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-09-20T00:13:27.699Z,1758327207.699 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-09-20T00:13:27.701Z,1758327207.701 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-20T00:13:27.703Z,1758327207.703 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-20T00:13:27.705Z,1758327207.705 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-20T00:13:27.707Z,1758327207.707 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-20T00:13:27.741Z,1758327207.741 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-09-20T00:13:27.743Z,1758327207.743 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-09-20T00:13:27.781Z,1758327207.781 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-20T00:13:27.793Z,1758327207.793 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-20T00:13:27.795Z,1758327207.795 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-09-20T00:13:27.809Z,1758327207.809 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-09-20T00:13:27.820Z,1758327207.820 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-09-20T00:13:27.823Z,1758327207.823 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-09-20T00:13:27.833Z,1758327207.833 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-09-20T00:13:27.852Z,1758327207.852 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-09-20T00:13:27.855Z,1758327207.855 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-09-20T00:13:27.865Z,1758327207.865 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-09-20T00:13:27.867Z,1758327207.867 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-09-20T00:13:27.887Z,1758327207.887 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-09-20T00:13:27.895Z,1758327207.895 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-09-20T00:13:27.913Z,1758327207.913 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-09-20T00:13:27.915Z,1758327207.915 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-09-20T00:13:27.921Z,1758327207.921 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-09-20T00:13:27.923Z,1758327207.923 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-09-20T00:13:27.936Z,1758327207.936 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-09-20T00:13:27.938Z,1758327207.938 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-09-20T00:13:27.944Z,1758327207.944 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-09-20T00:13:27.946Z,1758327207.946 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-09-20T00:13:27.949Z,1758327207.949 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-09-20T00:13:27.951Z,1758327207.951 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-09-20T00:13:27.962Z,1758327207.962 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-09-20T00:13:27.964Z,1758327207.964 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-09-20T00:13:27.966Z,1758327207.966 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-09-20T00:13:27.977Z,1758327207.977 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-09-20T00:13:27.979Z,1758327207.979 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-09-20T00:13:27.986Z,1758327207.986 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-09-20T00:13:27.996Z,1758327207.996 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-09-20T00:13:27.998Z,1758327207.998 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-09-20T00:13:28.001Z,1758327208.001 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-09-20T00:13:28.003Z,1758327208.003 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-09-20T00:13:28.014Z,1758327208.014 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-09-20T00:13:28.021Z,1758327208.021 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-09-20T00:13:28.023Z,1758327208.023 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-09-20T00:13:28.030Z,1758327208.030 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-09-20T00:13:28.040Z,1758327208.040 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-09-20T00:13:28.043Z,1758327208.043 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-09-20T00:13:28.045Z,1758327208.045 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-09-20T00:13:28.047Z,1758327208.047 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-09-20T00:13:28.061Z,1758327208.061 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-09-20T00:13:28.068Z,1758327208.068 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-09-20T00:13:28.070Z,1758327208.070 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-09-20T00:13:28.077Z,1758327208.077 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-09-20T00:13:28.079Z,1758327208.079 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-09-20T00:13:28.086Z,1758327208.086 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-09-20T00:13:28.093Z,1758327208.093 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-09-20T00:13:28.097Z,1758327208.097 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-09-20T00:13:28.099Z,1758327208.099 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-09-20T00:13:28.102Z,1758327208.102 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-09-20T00:13:28.108Z,1758327208.108 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-09-20T00:13:28.111Z,1758327208.111 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-09-20T00:13:28.125Z,1758327208.125 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-09-20T00:13:28.127Z,1758327208.127 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-09-20T00:13:28.133Z,1758327208.133 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-09-20T00:13:28.144Z,1758327208.144 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-09-20T00:13:28.146Z,1758327208.146 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-09-20T00:13:28.189Z,1758327208.189 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-09-20T00:13:28.196Z,1758327208.196 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-09-20T00:13:28.198Z,1758327208.198 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-09-20T00:13:28.213Z,1758327208.213 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-09-20T00:13:28.215Z,1758327208.215 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-09-20T00:13:28.253Z,1758327208.253 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-09-20T00:13:28.265Z,1758327208.265 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-09-20T00:13:28.267Z,1758327208.267 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-09-20T00:13:28.274Z,1758327208.274 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-09-20T00:13:28.281Z,1758327208.281 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-09-20T00:13:28.283Z,1758327208.283 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-09-20T00:13:28.301Z,1758327208.301 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-09-20T00:13:28.308Z,1758327208.308 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-09-20T00:13:28.310Z,1758327208.310 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-09-20T00:13:28.313Z,1758327208.313 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-09-20T00:13:28.315Z,1758327208.315 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-09-20T00:13:28.344Z,1758327208.344 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-09-20T00:13:28.350Z,1758327208.350 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-09-20T00:13:28.352Z,1758327208.352 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-09-20T00:13:28.355Z,1758327208.355 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-09-20T00:13:28.358Z,1758327208.358 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-09-20T00:13:28.373Z,1758327208.373 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-09-20T00:13:28.375Z,1758327208.375 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-09-20T00:13:28.382Z,1758327208.382 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-09-20T00:13:28.397Z,1758327208.397 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-09-20T00:13:28.410Z,1758327208.410 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-09-20T00:13:28.416Z,1758327208.416 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-09-20T00:13:28.419Z,1758327208.419 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-09-20T00:13:28.437Z,1758327208.437 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-09-20T00:13:28.439Z,1758327208.439 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-09-20T00:13:28.446Z,1758327208.446 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-09-20T00:13:28.452Z,1758327208.452 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-20T00:13:28.455Z,1758327208.455 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-20T00:13:28.465Z,1758327208.465 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-09-20T00:13:28.472Z,1758327208.472 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-09-20T00:13:28.474Z,1758327208.474 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-09-20T00:13:28.481Z,1758327208.481 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-20T00:13:28.483Z,1758327208.483 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-20T00:13:28.498Z,1758327208.498 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-09-20T00:13:28.505Z,1758327208.505 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-09-20T00:13:28.507Z,1758327208.507 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-09-20T00:13:28.514Z,1758327208.514 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-09-20T00:13:28.528Z,1758327208.528 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-09-20T00:13:28.531Z,1758327208.531 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-09-20T00:13:28.549Z,1758327208.549 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-09-20T00:13:28.604Z,1758327208.604 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-09-20T00:13:28.607Z,1758327208.607 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-09-20T00:13:28.617Z,1758327208.617 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-09-20T00:13:28.620Z,1758327208.620 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-09-20T00:13:28.630Z,1758327208.630 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-09-20T00:13:28.637Z,1758327208.637 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-09-20T00:13:28.639Z,1758327208.639 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-09-20T00:13:28.654Z,1758327208.654 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-09-20T00:13:28.664Z,1758327208.664 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-09-20T00:13:28.666Z,1758327208.666 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-09-20T00:13:28.761Z,1758327208.761 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:28.815Z,1758327208.815 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T00:13:28.883Z,1758327208.883 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-20T00:13:28.929Z,1758327208.929 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:28.973Z,1758327208.973 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:29.011Z,1758327209.011 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-20T00:13:29.076Z,1758327209.076 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:29.105Z,1758327209.105 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:29.186Z,1758327209.186 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-20T00:13:29.230Z,1758327209.230 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:29.255Z,1758327209.255 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T00:13:29.311Z,1758327209.311 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:29.348Z,1758327209.348 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T00:13:29.431Z,1758327209.431 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:29.474Z,1758327209.474 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T00:13:29.527Z,1758327209.527 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T00:13:29.562Z,1758327209.562 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T00:13:29.633Z,1758327209.633 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-09-20T00:13:29.654Z,1758327209.654 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-09-20T00:13:29.660Z,1758327209.660 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-09-20T00:13:29.661Z,1758327209.661 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-09-20T00:13:29.663Z,1758327209.663 [OnDock:N.Docked](DEBUG): Construct.
2025-09-20T00:13:29.663Z,1758327209.663 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-09-20T00:13:29.678Z,1758327209.678 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-09-20T00:13:29.678Z,1758327209.678 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-09-20T00:13:29.737Z,1758327209.737 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-09-20T00:13:29.738Z,1758327209.738 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-09-20T00:13:29.853Z,1758327209.853 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-09-20T00:13:29.854Z,1758327209.854 [DefaultWithUndock] Running Loop=1
2025-09-20T00:13:29.854Z,1758327209.854 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-09-20T00:13:29.854Z,1758327209.854 [DefaultWithUndock:A.Wait] Running Loop=1
2025-09-20T00:13:29.854Z,1758327209.854 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-09-20T00:13:37.524Z,1758327217.524 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour
2025-09-20T00:13:37.525Z,1758327217.525 [CommandExec](IMPORTANT): got command set OnDock.RangeTimeout 20 minute
2025-09-20T00:13:37.526Z,1758327217.526 [CommandExec](IMPORTANT): got command run
2025-09-20T00:13:37.553Z,1758327217.553 [CommandExec](IMPORTANT): Running 
2025-09-20T00:13:37.911Z,1758327217.911 [DefaultWithUndock] Stopped
2025-09-20T00:13:37.911Z,1758327217.911 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-09-20T00:13:37.911Z,1758327217.911 [DefaultWithUndock:A.Wait] Stopped
2025-09-20T00:13:37.911Z,1758327217.911 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-09-20T00:13:37.911Z,1758327217.911 [MissionManager](IMPORTANT): Started mission OnDock
2025-09-20T00:13:37.911Z,1758327217.911 [OnDock] Running Loop=1
2025-09-20T00:13:37.911Z,1758327217.911 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-09-20T00:13:37.912Z,1758327217.912 [OnDock:StandardEnvelopes] Running Loop=1
2025-09-20T00:13:37.916Z,1758327217.916 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-09-20T00:13:37.916Z,1758327217.916 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-20T00:13:37.916Z,1758327217.916 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-20T00:13:37.916Z,1758327217.916 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-20T00:13:37.916Z,1758327217.916 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:BackseatDriver] Running Loop=1
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:PowerOnly] Running Loop=1
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:PowerOnly:A] Running Loop=1
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:PowerOnly:B] Running Loop=1
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:PowerOnly:C] Running Loop=1
2025-09-20T00:13:37.917Z,1758327217.917 [OnDock:PowerOnly:D] Running Loop=1
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:dataRead] Running Loop=1
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:dataRead:A] Running Loop=1
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:science] Running Loop=1
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:science:Science] Running Loop=1
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:science:Science:A] Running Loop=1
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:science:Science:B] Running Loop=1
2025-09-20T00:13:37.918Z,1758327217.918 [OnDock:science:Science:C] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:D] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:E] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:F] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-09-20T00:13:37.919Z,1758327217.919 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-09-20T00:13:37.924Z,1758327217.924 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-20T00:13:37.924Z,1758327217.924 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-20T00:13:37.924Z,1758327217.924 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-20T00:13:37.925Z,1758327217.925 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-20T00:13:37.926Z,1758327217.926 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-09-20T00:13:37.926Z,1758327217.926 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-09-20T00:13:37.926Z,1758327217.926 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-09-20T00:13:37.926Z,1758327217.926 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-09-20T00:13:37.926Z,1758327217.926 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-09-20T00:13:37.926Z,1758327217.926 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-09-20T00:13:37.926Z,1758327217.926 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-09-20T00:13:37.926Z,1758327217.926 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-09-20T00:13:37.927Z,1758327217.927 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-20T00:13:37.927Z,1758327217.927 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-20T00:13:37.927Z,1758327217.927 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-20T00:13:37.927Z,1758327217.927 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-09-20T00:13:37.927Z,1758327217.927 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-20T00:13:37.927Z,1758327217.927 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-20T00:13:37.927Z,1758327217.927 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-20T00:13:37.932Z,1758327217.932 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-20T00:13:37.932Z,1758327217.932 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-20T00:13:37.932Z,1758327217.932 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-09-20T00:13:37.932Z,1758327217.932 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-20T00:13:37.932Z,1758327217.932 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-20T00:13:37.932Z,1758327217.932 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-20T00:13:37.933Z,1758327217.933 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-20T00:13:37.933Z,1758327217.933 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-09-20T00:13:37.933Z,1758327217.933 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-09-20T00:13:37.933Z,1758327217.933 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-20T00:13:37.933Z,1758327217.933 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-09-20T00:13:37.933Z,1758327217.933 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-09-20T00:13:37.933Z,1758327217.933 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-09-20T00:13:37.934Z,1758327217.934 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-09-20T00:13:37.935Z,1758327217.935 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-09-20T00:13:37.935Z,1758327217.935 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-09-20T00:13:37.935Z,1758327217.935 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-09-20T00:13:37.935Z,1758327217.935 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-09-20T00:13:37.935Z,1758327217.935 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-09-20T00:13:37.935Z,1758327217.935 [OnDock:J.] Running Loop=1
2025-09-20T00:13:37.935Z,1758327217.935 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-09-20T00:13:37.935Z,1758327217.935 [OnDock:PeriodicCheck] Running Loop=1
2025-09-20T00:13:37.936Z,1758327217.936 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-09-20T00:13:37.944Z,1758327217.944 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-09-20T00:13:37.944Z,1758327217.944 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-09-20T00:13:37.944Z,1758327217.944 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-09-20T00:13:37.945Z,1758327217.945 [OnDock:B] Running Loop=1
2025-09-20T00:13:37.945Z,1758327217.945 [OnDock:PeriodicCheck] Running Loop=1
2025-09-20T00:13:37.945Z,1758327217.945 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-09-20T00:13:37.945Z,1758327217.945 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-09-20T00:13:37.945Z,1758327217.945 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-09-20T00:13:37.945Z,1758327217.945 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-09-20T00:13:37.946Z,1758327217.946 [OnDock:J.] Running Loop=1
2025-09-20T00:13:37.946Z,1758327217.946 [OnDock:J.](ERROR): Failed to read sound speed
2025-09-20T00:13:37.946Z,1758327217.946 [OnDock:science] Stopped
2025-09-20T00:13:37.946Z,1758327217.946 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-09-20T00:13:37.946Z,1758327217.946 [OnDock:science:Science] Stopped
2025-09-20T00:13:37.946Z,1758327217.946 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:A] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:B] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:C] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:D] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:E] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:F] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:Read_Oil] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:OceanCurrent] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:PeakDetectChl] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-09-20T00:13:37.947Z,1758327217.947 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-09-20T00:13:37.948Z,1758327217.948 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-09-20T00:13:37.952Z,1758327217.952 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-09-20T00:13:37.952Z,1758327217.952 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-20T00:13:37.952Z,1758327217.952 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-20T00:13:37.952Z,1758327217.952 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-09-20T00:13:37.952Z,1758327217.952 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-09-20T00:13:37.952Z,1758327217.952 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-09-20T00:13:37.952Z,1758327217.952 [OnDock:science:Science:PeakDetectOil] Stopped
2025-09-20T00:13:37.952Z,1758327217.952 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-09-20T00:13:37.953Z,1758327217.953 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-09-20T00:13:37.954Z,1758327217.954 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-20T00:13:37.955Z,1758327217.955 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-20T00:13:37.956Z,1758327217.956 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-09-20T00:13:37.960Z,1758327217.960 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-09-20T00:13:37.960Z,1758327217.960 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-09-20T00:13:37.960Z,1758327217.960 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-09-20T00:13:37.960Z,1758327217.960 [OnDock:dataRead] Running Loop=1
2025-09-20T00:13:37.961Z,1758327217.961 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-20T00:13:37.961Z,1758327217.961 [OnDock:PowerOnly] Running Loop=1
2025-09-20T00:13:37.961Z,1758327217.961 [OnDock:PowerOnly:D] Stopped
2025-09-20T00:13:37.961Z,1758327217.961 [OnDock:PowerOnly:C] Stopped
2025-09-20T00:13:37.961Z,1758327217.961 [OnDock:PowerOnly:B] Stopped
2025-09-20T00:13:37.961Z,1758327217.961 [OnDock:PowerOnly:A] Stopped
2025-09-20T00:13:37.961Z,1758327217.961 [OnDock:BackseatDriver] Running Loop=1
2025-09-20T00:13:37.962Z,1758327217.962 [OnDock:B] Stopped
2025-09-20T00:13:37.962Z,1758327217.962 [OnDock:C] Running Loop=1
2025-09-20T00:13:37.962Z,1758327217.962 [OnDock:StandardEnvelopes] Running Loop=1
2025-09-20T00:13:37.962Z,1758327217.962 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-20T00:13:37.962Z,1758327217.962 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-20T00:13:37.963Z,1758327217.963 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-20T00:13:37.969Z,1758327217.969 [CommandExec](IMPORTANT): got command ! ifconfig
2025-09-20T00:13:38.162Z,1758327218.162 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:4638 errors:0 dropped:0 overruns:0 frame:0
            TX packets:7212 errors:0 dropped:0 overruns:0 carrier:0
            collisions:23 txqueuelen:1000 
            RX bytes:2138861 (2.0 Mb)  TX bytes:1593710 (1.5 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:690 errors:0 dropped:0 overruns:0 frame:0
            TX packets:690 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:58076 (56.7 Kb)  TX bytes:58076 (56.7 Kb)
  
  
2025-09-20T00:13:38.519Z,1758327218.519 [OnDock:C] Stopped
2025-09-20T00:13:38.519Z,1758327218.519 [OnDock:D] Running Loop=1
2025-09-20T00:13:38.921Z,1758327218.921 [OnDock:D] Stopped
2025-09-20T00:13:38.922Z,1758327218.922 [OnDock:E] Running Loop=1
2025-09-20T00:13:39.317Z,1758327219.317 [OnDock:E] Stopped
2025-09-20T00:13:39.318Z,1758327219.318 [OnDock:K] Running Loop=1
2025-09-20T00:13:39.713Z,1758327219.713 [OnDock:K](IMPORTANT): Restarting logs
2025-09-20T00:13:39.713Z,1758327219.713 [OnDock:K] Stopped
2025-09-20T00:13:39.713Z,1758327219.713 [OnDock:L.Execute] Running Loop=1
2025-09-20T00:13:40.151Z,1758327220.151 [OnDock:L.Execute](INFO): Executing command restart logs
2025-09-20T00:13:40.151Z,1758327220.151 [OnDock:L.Execute] Stopped
2025-09-20T00:13:40.151Z,1758327220.151 [OnDock:N.Docked] Running Loop=1
2025-09-20T00:13:40.151Z,1758327220.151 [OnDock:N.Docked](DEBUG): Initialize.
2025-09-20T00:13:40.152Z,1758327220.152 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.