2025-09-20T19:26:54.136Z,1758396414.136 [CommandExec](IMPORTANT): got command restart logs 2025-09-20T19:26:54.344Z,1758396414.344 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-09-20T19:26:54.344Z,1758396414.344 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-09-20T19:26:57.596Z,1758396417.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:27:10.508Z,1758396430.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:27:20.515Z,1758396440.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:27:25.436Z,1758396445.436 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-20T19:27:30.235Z,1758396450.235 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:27:33.608Z,1758396453.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:27:33.848Z,1758396453.848 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:27:33.848Z,1758396453.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:27:34.100Z,1758396454.100 [DAT](INFO): DAT read: user:8> 2025-09-20T19:27:34.101Z,1758396454.101 [DAT](INFO): DAT read: Tx time:19:27:36.7588 2025-09-20T19:27:34.101Z,1758396454.101 [DAT](INFO): Ping request sent. 2025-09-20T19:27:34.101Z,1758396454.101 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:27:34.101Z,1758396454.101 [DAT](INFO): publishing transmit ping time 2025-09-20T19:27:34.102Z,1758396454.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-09-20T19:27:34.352Z,1758396454.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250876 2025-09-20T19:27:34.604Z,1758396454.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502850 2025-09-20T19:27:34.856Z,1758396454.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754923 2025-09-20T19:27:35.110Z,1758396455.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008864 2025-09-20T19:27:35.360Z,1758396455.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259143 2025-09-20T19:27:35.612Z,1758396455.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510858 2025-09-20T19:27:35.864Z,1758396455.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762806 2025-09-20T19:27:36.119Z,1758396456.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016881 2025-09-20T19:27:36.368Z,1758396456.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266786 2025-09-20T19:27:36.428Z,1758396456.428 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-09-20T19:27:36.428Z,1758396456.428 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-09-20T19:27:36.429Z,1758396456.429 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-09-20T19:27:36.430Z,1758396456.430 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-09-20T19:27:36.430Z,1758396456.430 [BPC1](ERROR): Battery stick #30 (s/n: 0BDB) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0. 2025-09-20T19:27:36.436Z,1758396456.436 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-09-20T19:27:36.436Z,1758396456.436 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-09-20T19:27:36.437Z,1758396456.437 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-09-20T19:27:36.438Z,1758396456.438 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-09-20T19:27:36.438Z,1758396456.438 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 2. 2025-09-20T19:27:36.446Z,1758396456.446 [BPC1](INFO): Received data from all battery sticks. 2025-09-20T19:27:36.620Z,1758396456.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518900 2025-09-20T19:27:36.872Z,1758396456.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771086 2025-09-20T19:27:37.127Z,1758396457.127 [DAT](INFO): DAT read: Rx Time:19:27:39.3821 2025-09-20T19:27:37.128Z,1758396457.128 [DAT](INFO): Rx dataTimestamp_ set to:1758396457.127404 2025-09-20T19:27:37.130Z,1758396457.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028509 2025-09-20T19:27:37.376Z,1758396457.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274829 2025-09-20T19:27:37.635Z,1758396457.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533330 2025-09-20T19:27:37.891Z,1758396457.891 [DAT](INFO): DAT read: 19:27:39.3821 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 384,-0.24, 1.993, 0.735, 1.765, 0.982, PHS= 1.113,-0.202, 0.739, RAW= 134.0, -26.4, CAL= 134.3, -27.8, ROT= 15.7, 27.8 2025-09-20T19:27:37.892Z,1758396457.892 [DAT](INFO): got valid direction response: 19:27:39.3821 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 384,-0.24, 1.993, 0.735, 1.765, 0.982, PHS= 1.113,-0.202, 0.739, RAW= 134.0, -26.4, CAL= 134.3, -27.8, ROT= 15.7, 27.8 2025-09-20T19:27:37.893Z,1758396457.893 [DAT](INFO): DAT read: Bearing 33.5, 17.1 (Local) 2025-09-20T19:27:37.893Z,1758396457.893 [DAT](INFO): Local bearing/azimuth received: Bearing 33.5, 17.1 (Local) 2025-09-20T19:27:37.894Z,1758396457.894 [DAT](INFO): DAT read: Range 11 to 50 : 164.3 m (Round-trip 219.1 ms) speed 0.4 m/s 2025-09-20T19:27:37.895Z,1758396457.895 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:27:37.896Z,1758396457.896 [DAT](INFO): direction in FSK: [0.851579,0.239368,-0.466387] 2025-09-20T19:27:37.896Z,1758396457.896 [DAT](INFO): publishing direction and range info 2025-09-20T19:27:40.215Z,1758396460.215 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:27:49.596Z,1758396469.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:27:58.999Z,1758396478.999 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:28:29.120Z,1758396509.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:28:30.123Z,1758396510.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:28:33.815Z,1758396513.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:28:33.860Z,1758396513.860 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:28:33.860Z,1758396513.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:28:34.112Z,1758396514.112 [DAT](INFO): DAT read: user:9> 2025-09-20T19:28:34.113Z,1758396514.113 [DAT](INFO): DAT read: Tx time:19:28:36.7588 2025-09-20T19:28:34.113Z,1758396514.113 [DAT](INFO): Ping request sent. 2025-09-20T19:28:34.113Z,1758396514.113 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:28:34.113Z,1758396514.113 [DAT](INFO): publishing transmit ping time 2025-09-20T19:28:34.114Z,1758396514.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-09-20T19:28:34.364Z,1758396514.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250703 2025-09-20T19:28:34.616Z,1758396514.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503190 2025-09-20T19:28:34.868Z,1758396514.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754775 2025-09-20T19:28:35.122Z,1758396515.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008717 2025-09-20T19:28:35.372Z,1758396515.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258700 2025-09-20T19:28:35.624Z,1758396515.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876 2025-09-20T19:28:35.876Z,1758396515.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762891 2025-09-20T19:28:36.128Z,1758396516.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014750 2025-09-20T19:28:36.384Z,1758396516.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270730 2025-09-20T19:28:36.632Z,1758396516.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518627 2025-09-20T19:28:36.885Z,1758396516.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771201 2025-09-20T19:28:37.139Z,1758396517.139 [DAT](INFO): DAT read: Rx Time:19:28:39.3434 2025-09-20T19:28:37.140Z,1758396517.140 [DAT](INFO): Rx dataTimestamp_ set to:1758396517.139405 2025-09-20T19:28:37.142Z,1758396517.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028285 2025-09-20T19:28:37.400Z,1758396517.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286233 2025-09-20T19:28:37.645Z,1758396517.645 [DAT](INFO): DAT read: 19:28:39.3434 LVL= 26576, 25873, 24162, 20435, AGC= 66, IDX= 52, 0.17, 0.749,-0.589, 1.103, 0.284, PHS= 0.567,-0.828, 0.775, RAW= 156.9, -6.9, CAL= 157.1, -8.5, ROT= 352.9, 8.5 2025-09-20T19:28:37.646Z,1758396517.646 [DAT](INFO): got valid direction response: 19:28:39.3434 LVL= 26576, 25873, 24162, 20435, AGC= 66, IDX= 52, 0.17, 0.749,-0.589, 1.103, 0.284, PHS= 0.567,-0.828, 0.775, RAW= 156.9, -6.9, CAL= 157.1, -8.5, ROT= 352.9, 8.5 2025-09-20T19:28:37.648Z,1758396517.648 [DAT](INFO): DAT read: Bearing 94.8, 44.0 (Local) 2025-09-20T19:28:37.648Z,1758396517.648 [DAT](INFO): Local bearing/azimuth received: Bearing 94.8, 44.0 (Local) 2025-09-20T19:28:37.650Z,1758396517.650 [DAT](INFO): DAT read: Range 11 to 50 : 135.3 m (Round-trip 180.4 ms) speed 0.4 m/s 2025-09-20T19:28:37.650Z,1758396517.650 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:28:37.651Z,1758396517.651 [DAT](INFO): direction in FSK: [0.981432,-0.122244,-0.147809] 2025-09-20T19:28:37.652Z,1758396517.652 [DAT](INFO): publishing direction and range info 2025-09-20T19:28:58.236Z,1758396538.236 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239414 2025-09-20T19:28:58.431Z,1758396538.431 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-09-20T19:28:58.432Z,1758396538.432 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-09-20T19:28:58.432Z,1758396538.432 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-09-20T19:28:58.432Z,1758396538.432 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-09-20T19:28:58.432Z,1758396538.432 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-09-20T19:28:58.432Z,1758396538.432 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-09-20T19:28:58.434Z,1758396538.434 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-09-20T19:28:58.872Z,1758396538.872 [lineCaptureHoming:MicromodemComms] Stopped 2025-09-20T19:28:58.872Z,1758396538.872 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-09-20T19:28:58.872Z,1758396538.872 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-09-20T19:28:58.872Z,1758396538.872 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-09-20T19:28:58.872Z,1758396538.872 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-09-20T19:28:59.240Z,1758396539.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:28:59.333Z,1758396539.333 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-09-20T19:28:59.333Z,1758396539.333 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-09-20T19:28:59.333Z,1758396539.333 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-09-20T19:28:59.333Z,1758396539.333 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-09-20T19:28:59.333Z,1758396539.333 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-09-20T19:29:02.555Z,1758396542.555 [Radio_Surface](INFO): Powering down 2025-09-20T19:29:29.359Z,1758396569.359 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:29:30.065Z,1758396570.065 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-20T19:29:30.363Z,1758396570.363 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-09-20T19:29:30.363Z,1758396570.363 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:29:34.122Z,1758396574.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:29:34.128Z,1758396574.128 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:29:34.128Z,1758396574.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:29:34.380Z,1758396574.380 [DAT](INFO): DAT read: user:10> 2025-09-20T19:29:34.381Z,1758396574.381 [DAT](INFO): DAT read: Tx time:19:29:37.0087 2025-09-20T19:29:34.381Z,1758396574.381 [DAT](INFO): Ping request sent. 2025-09-20T19:29:34.381Z,1758396574.381 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:29:34.381Z,1758396574.381 [DAT](INFO): publishing transmit ping time 2025-09-20T19:29:34.382Z,1758396574.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-09-20T19:29:34.632Z,1758396574.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251021 2025-09-20T19:29:34.884Z,1758396574.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502965 2025-09-20T19:29:35.139Z,1758396575.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757348 2025-09-20T19:29:35.389Z,1758396575.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007523 2025-09-20T19:29:35.640Z,1758396575.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258960 2025-09-20T19:29:35.892Z,1758396575.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511028 2025-09-20T19:29:36.144Z,1758396576.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763167 2025-09-20T19:29:36.396Z,1758396576.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014985 2025-09-20T19:29:36.648Z,1758396576.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267018 2025-09-20T19:29:36.900Z,1758396576.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519067 2025-09-20T19:29:37.155Z,1758396577.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773336 2025-09-20T19:29:37.404Z,1758396577.404 [DAT](INFO): DAT read: Rx Time:19:29:39.5555 2025-09-20T19:29:37.405Z,1758396577.405 [DAT](INFO): Rx dataTimestamp_ set to:1758396577.404312 2025-09-20T19:29:37.405Z,1758396577.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024190 2025-09-20T19:29:37.656Z,1758396577.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275028 2025-09-20T19:29:37.909Z,1758396577.909 [DAT](INFO): DAT read: Range 11 to 50 : 106.9 m (Round-trip 142.6 ms) speed 0.2 m/s 2025-09-20T19:29:37.910Z,1758396577.910 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-09-20T19:30:00.485Z,1758396600.485 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:30:01.488Z,1758396601.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:30:12.595Z,1758396612.595 [lineCaptureHoming:InitialDive:C.Pitch] Stopped 2025-09-20T19:30:12.596Z,1758396612.596 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive 2025-09-20T19:30:12.596Z,1758396612.596 [lineCaptureHoming:InitialDive] Stopped 2025-09-20T19:30:12.596Z,1758396612.596 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive 2025-09-20T19:30:12.596Z,1758396612.596 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped 2025-09-20T19:30:12.596Z,1758396612.596 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize. 2025-09-20T19:30:12.596Z,1758396612.596 [lineCaptureHoming:InitialDive:B.Mass] Stopped 2025-09-20T19:30:12.596Z,1758396612.596 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize. 2025-09-20T19:30:12.596Z,1758396612.596 [lineCaptureHoming:RepeatHack] Running Loop=1 2025-09-20T19:30:12.597Z,1758396612.597 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack 2025-09-20T19:30:12.597Z,1758396612.597 [lineCaptureHoming:RepeatHack:A] Running Loop=1 2025-09-20T19:30:12.932Z,1758396612.932 [lineCaptureHoming:RepeatHack] Stopped 2025-09-20T19:30:12.932Z,1758396612.932 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack 2025-09-20T19:30:12.932Z,1758396612.932 [lineCaptureHoming:RepeatHack:A] Stopped 2025-09-20T19:30:12.933Z,1758396612.933 [lineCaptureHoming:Lap] Running Loop=1 2025-09-20T19:30:12.933Z,1758396612.933 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap 2025-09-20T19:30:12.933Z,1758396612.933 [lineCaptureHoming:Lap:A] Running Loop=1 2025-09-20T19:30:13.328Z,1758396613.328 [lineCaptureHoming:Lap:A] Stopped 2025-09-20T19:30:13.329Z,1758396613.329 [lineCaptureHoming:Lap:B] Running Loop=1 2025-09-20T19:30:13.329Z,1758396613.329 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B 2025-09-20T19:30:13.759Z,1758396613.759 [lineCaptureHoming:LineCapture] Running Loop=1 2025-09-20T19:30:13.759Z,1758396613.759 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-09-20T19:30:13.760Z,1758396613.760 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize. 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-09-20T19:30:13.761Z,1758396613.761 [lineCaptureHoming:LineCapture:A] Running Loop=1 2025-09-20T19:30:13.762Z,1758396613.762 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-09-20T19:30:13.762Z,1758396613.762 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-09-20T19:30:13.762Z,1758396613.762 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-09-20T19:30:13.762Z,1758396613.762 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-09-20T19:30:13.762Z,1758396613.762 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-09-20T19:30:13.763Z,1758396613.763 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-09-20T19:30:13.763Z,1758396613.763 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-09-20T19:30:13.763Z,1758396613.763 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-09-20T19:30:13.764Z,1758396613.764 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-09-20T19:30:13.764Z,1758396613.764 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-09-20T19:30:13.764Z,1758396613.764 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-09-20T19:30:13.765Z,1758396613.765 [lineCaptureHoming:LineCapture:A] Stopped 2025-09-20T19:30:13.765Z,1758396613.765 [lineCaptureHoming:LineCapture:B] Running Loop=1 2025-09-20T19:30:14.134Z,1758396614.134 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-09-20T19:30:14.134Z,1758396614.134 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-09-20T19:30:14.134Z,1758396614.134 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-09-20T19:30:14.138Z,1758396614.138 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 106.900002 m (mode 0.000000 count ). 2025-09-20T19:30:14.138Z,1758396614.138 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-09-20T19:30:14.138Z,1758396614.138 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-09-20T19:30:14.145Z,1758396614.145 [lineCaptureHoming:LineCapture:B] Stopped 2025-09-20T19:30:14.145Z,1758396614.145 [lineCaptureHoming:LineCapture:D] Running Loop=1 2025-09-20T19:30:14.598Z,1758396614.598 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-09-20T19:30:14.599Z,1758396614.599 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-09-20T19:30:14.599Z,1758396614.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:14.601Z,1758396614.601 [lineCaptureHoming:LineCapture:D] Stopped 2025-09-20T19:30:14.601Z,1758396614.601 [lineCaptureHoming:LineCapture:E] Running Loop=1 2025-09-20T19:30:14.704Z,1758396614.704 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:14.704Z,1758396614.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:14.956Z,1758396614.956 [DAT](INFO): DAT read: user:11> 2025-09-20T19:30:14.957Z,1758396614.957 [DAT](INFO): DAT read: Tx time:19:30:17.6087 2025-09-20T19:30:14.957Z,1758396614.957 [DAT](INFO): Ping request sent. 2025-09-20T19:30:14.957Z,1758396614.957 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:14.957Z,1758396614.957 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:14.958Z,1758396614.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-09-20T19:30:14.976Z,1758396614.976 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-09-20T19:30:14.976Z,1758396614.976 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-09-20T19:30:14.978Z,1758396614.978 [lineCaptureHoming:LineCapture:E] Stopped 2025-09-20T19:30:14.978Z,1758396614.978 [lineCaptureHoming:LineCapture:F] Running Loop=1 2025-09-20T19:30:15.208Z,1758396615.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250930 2025-09-20T19:30:15.350Z,1758396615.350 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-09-20T19:30:15.350Z,1758396615.350 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-09-20T19:30:15.350Z,1758396615.350 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-09-20T19:30:15.350Z,1758396615.350 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-09-20T19:30:15.353Z,1758396615.353 [lineCaptureHoming:LineCapture:F] Stopped 2025-09-20T19:30:15.353Z,1758396615.353 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1 2025-09-20T19:30:15.353Z,1758396615.353 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence 2025-09-20T19:30:15.353Z,1758396615.353 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-09-20T19:30:15.353Z,1758396615.353 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-09-20T19:30:15.353Z,1758396615.353 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2025-09-20T19:30:15.354Z,1758396615.354 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-09-20T19:30:15.354Z,1758396615.354 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2025-09-20T19:30:15.354Z,1758396615.354 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-09-20T19:30:15.354Z,1758396615.354 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-09-20T19:30:15.354Z,1758396615.354 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-09-20T19:30:15.354Z,1758396615.354 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-09-20T19:30:15.354Z,1758396615.354 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-09-20T19:30:15.355Z,1758396615.355 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-09-20T19:30:15.355Z,1758396615.355 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-09-20T19:30:15.355Z,1758396615.355 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-09-20T19:30:15.355Z,1758396615.355 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-09-20T19:30:15.355Z,1758396615.355 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-09-20T19:30:15.355Z,1758396615.355 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-09-20T19:30:15.356Z,1758396615.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-09-20T19:30:15.357Z,1758396615.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-09-20T19:30:15.357Z,1758396615.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-09-20T19:30:15.357Z,1758396615.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-09-20T19:30:15.357Z,1758396615.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-09-20T19:30:15.357Z,1758396615.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-09-20T19:30:15.460Z,1758396615.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503026 2025-09-20T19:30:15.712Z,1758396615.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754834 2025-09-20T19:30:15.816Z,1758396615.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-09-20T19:30:15.816Z,1758396615.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-09-20T19:30:15.816Z,1758396615.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-09-20T19:30:15.817Z,1758396615.817 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-09-20T19:30:15.818Z,1758396615.818 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-09-20T19:30:15.819Z,1758396615.819 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.664970 m. 2025-09-20T19:30:15.964Z,1758396615.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006823 2025-09-20T19:30:16.216Z,1758396616.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258944 2025-09-20T19:30:16.468Z,1758396616.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510838 2025-09-20T19:30:16.632Z,1758396616.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:16.680Z,1758396616.680 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-09-20T19:30:16.720Z,1758396616.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763151 2025-09-20T19:30:16.796Z,1758396616.796 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-09-20T19:30:16.972Z,1758396616.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015011 2025-09-20T19:30:17.224Z,1758396617.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266835 2025-09-20T19:30:17.476Z,1758396617.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518813 2025-09-20T19:30:17.728Z,1758396617.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770918 2025-09-20T19:30:17.980Z,1758396617.980 [DAT](INFO): DAT read: Rx Time:19:30:20.1649 2025-09-20T19:30:17.980Z,1758396617.980 [DAT](INFO): Rx dataTimestamp_ set to:1758396617.980167 2025-09-20T19:30:17.981Z,1758396617.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023918 2025-09-20T19:30:18.232Z,1758396618.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885 2025-09-20T19:30:18.489Z,1758396618.489 [DAT](INFO): DAT read: 19:30:20.1649 LVL= 32752, 22561, 26802, 32755, AGC= 63, IDX= 33, 0.39,-2.974,-0.724,-1.665,-1.316, PHS=-1.556, 0.637,-0.393, RAW= 298.0, 13.7, CAL= 295.4, 20.4, ROT= 214.6, -20.4 2025-09-20T19:30:18.490Z,1758396618.490 [DAT](INFO): got valid direction response: 19:30:20.1649 LVL= 32752, 22561, 26802, 32755, AGC= 63, IDX= 33, 0.39,-2.974,-0.724,-1.665,-1.316, PHS=-1.556, 0.637,-0.393, RAW= 298.0, 13.7, CAL= 295.4, 20.4, ROT= 214.6, -20.4 2025-09-20T19:30:18.491Z,1758396618.491 [DAT](INFO): DAT read: Bearing 2.2, -37.2 (Local) 2025-09-20T19:30:18.492Z,1758396618.492 [DAT](INFO): Local bearing/azimuth received: Bearing 2.2, -37.2 (Local) 2025-09-20T19:30:18.493Z,1758396618.493 [DAT](INFO): DAT read: Range 11 to 50 : 114.0 m (Round-trip 152.0 ms) speed -0.4 m/s 2025-09-20T19:30:18.494Z,1758396618.494 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:30:18.495Z,1758396618.495 [DAT](INFO): direction in FSK: [-0.771511,-0.532230,0.348572] 2025-09-20T19:30:18.495Z,1758396618.495 [DAT](INFO): publishing direction and range info 2025-09-20T19:30:18.498Z,1758396618.498 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:18.498Z,1758396618.498 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:18.498Z,1758396618.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:18.736Z,1758396618.736 [DAT](INFO): DAT read: user:12> 2025-09-20T19:30:18.737Z,1758396618.737 [DAT](INFO): DAT read: Tx time:19:30:21.4087 2025-09-20T19:30:18.737Z,1758396618.737 [DAT](INFO): Ping request sent. 2025-09-20T19:30:18.737Z,1758396618.737 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:18.737Z,1758396618.737 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:18.738Z,1758396618.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000710 2025-09-20T19:30:18.988Z,1758396618.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250943 2025-09-20T19:30:19.017Z,1758396619.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:19.240Z,1758396619.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906 2025-09-20T19:30:19.492Z,1758396619.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754834 2025-09-20T19:30:19.744Z,1758396619.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006892 2025-09-20T19:30:19.996Z,1758396619.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258870 2025-09-20T19:30:20.249Z,1758396620.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511291 2025-09-20T19:30:20.500Z,1758396620.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763091 2025-09-20T19:30:20.712Z,1758396620.712 [DockingStepper](INFO): Changing to mode: 3 2025-09-20T19:30:20.753Z,1758396620.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015911 2025-09-20T19:30:21.004Z,1758396621.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266931 2025-09-20T19:30:21.035Z,1758396621.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:21.256Z,1758396621.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518885 2025-09-20T19:30:21.511Z,1758396621.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773647 2025-09-20T19:30:21.760Z,1758396621.760 [DAT](INFO): DAT read: Rx Time:19:30:23.9667 2025-09-20T19:30:21.760Z,1758396621.760 [DAT](INFO): Rx dataTimestamp_ set to:1758396621.760148 2025-09-20T19:30:21.761Z,1758396621.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023903 2025-09-20T19:30:22.012Z,1758396622.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274857 2025-09-20T19:30:22.269Z,1758396622.269 [DAT](INFO): DAT read: 19:30:23.9667 LVL= 28144, 25073, 23490, 28979, AGC= 60, IDX= 467, 0.38, 0.975,-2.931, 2.084, 2.384, PHS=-1.307, 1.013,-0.343, RAW= 305.6, 6.4, CAL= 303.2, 5.4, ROT= 206.8, -5.4 2025-09-20T19:30:22.270Z,1758396622.270 [DAT](INFO): got valid direction response: 19:30:23.9667 LVL= 28144, 25073, 23490, 28979, AGC= 60, IDX= 467, 0.38, 0.975,-2.931, 2.084, 2.384, PHS=-1.307, 1.013,-0.343, RAW= 305.6, 6.4, CAL= 303.2, 5.4, ROT= 206.8, -5.4 2025-09-20T19:30:22.272Z,1758396622.272 [DAT](INFO): DAT read: Bearing 25.7, -26.6 (Local) 2025-09-20T19:30:22.272Z,1758396622.272 [DAT](INFO): Local bearing/azimuth received: Bearing 25.7, -26.6 (Local) 2025-09-20T19:30:22.274Z,1758396622.274 [DAT](INFO): DAT read: Range 11 to 50 : 115.4 m (Round-trip 153.9 ms) speed -0.4 m/s 2025-09-20T19:30:22.274Z,1758396622.274 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:30:22.276Z,1758396622.276 [DAT](INFO): direction in FSK: [-0.888624,-0.448877,0.094108] 2025-09-20T19:30:22.276Z,1758396622.276 [DAT](INFO): publishing direction and range info 2025-09-20T19:30:22.288Z,1758396622.288 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:22.288Z,1758396622.288 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:22.288Z,1758396622.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:22.516Z,1758396622.516 [DAT](INFO): DAT read: user:13> 2025-09-20T19:30:22.517Z,1758396622.517 [DAT](INFO): DAT read: Tx time:19:30:25.1587 2025-09-20T19:30:22.517Z,1758396622.517 [DAT](INFO): Ping request sent. 2025-09-20T19:30:22.517Z,1758396622.517 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:22.517Z,1758396622.517 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:22.518Z,1758396622.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-09-20T19:30:22.768Z,1758396622.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251218 2025-09-20T19:30:23.020Z,1758396623.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503060 2025-09-20T19:30:23.047Z,1758396623.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:23.272Z,1758396623.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972 2025-09-20T19:30:23.525Z,1758396623.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007368 2025-09-20T19:30:23.776Z,1758396623.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259362 2025-09-20T19:30:24.028Z,1758396624.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510959 2025-09-20T19:30:24.280Z,1758396624.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101 2025-09-20T19:30:24.532Z,1758396624.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982 2025-09-20T19:30:24.785Z,1758396624.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267535 2025-09-20T19:30:25.040Z,1758396625.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523011 2025-09-20T19:30:25.073Z,1758396625.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:25.292Z,1758396625.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774991 2025-09-20T19:30:25.545Z,1758396625.545 [DAT](INFO): DAT read: Rx Time:19:30:27.7184 2025-09-20T19:30:25.545Z,1758396625.545 [DAT](INFO): Rx dataTimestamp_ set to:1758396625.544771 2025-09-20T19:30:25.546Z,1758396625.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028910 2025-09-20T19:30:25.797Z,1758396625.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279577 2025-09-20T19:30:26.053Z,1758396626.053 [DAT](INFO): DAT read: 19:30:27.7184 LVL= 32752, 28273, 29074, 29747, AGC= 60, IDX= 453,-0.27,-2.737,-0.459,-1.639,-1.456, PHS=-1.179, 1.041,-0.227, RAW= 304.7, 3.8, CAL= 302.3, 0.4, ROT= 207.7, -0.4 2025-09-20T19:30:26.054Z,1758396626.054 [DAT](INFO): got valid direction response: 19:30:27.7184 LVL= 32752, 28273, 29074, 29747, AGC= 60, IDX= 453,-0.27,-2.737,-0.459,-1.639,-1.456, PHS=-1.179, 1.041,-0.227, RAW= 304.7, 3.8, CAL= 302.3, 0.4, ROT= 207.7, -0.4 2025-09-20T19:30:26.055Z,1758396626.055 [DAT](INFO): DAT read: Bearing 33.9, -21.8 (Local) 2025-09-20T19:30:26.056Z,1758396626.056 [DAT](INFO): Local bearing/azimuth received: Bearing 33.9, -21.8 (Local) 2025-09-20T19:30:26.057Z,1758396626.057 [DAT](INFO): DAT read: Range 11 to 50 : 116.6 m (Round-trip 155.5 ms) speed -0.1 m/s 2025-09-20T19:30:26.058Z,1758396626.058 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:30:26.059Z,1758396626.059 [DAT](INFO): direction in FSK: [-0.885372,-0.464831,0.006981] 2025-09-20T19:30:26.059Z,1758396626.059 [DAT](INFO): publishing direction and range info 2025-09-20T19:30:26.062Z,1758396626.062 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:26.062Z,1758396626.062 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:26.063Z,1758396626.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:26.300Z,1758396626.300 [DAT](INFO): DAT read: user:14> 2025-09-20T19:30:26.301Z,1758396626.301 [DAT](INFO): DAT read: Tx time:19:30:28.9587 2025-09-20T19:30:26.301Z,1758396626.301 [DAT](INFO): Ping request sent. 2025-09-20T19:30:26.301Z,1758396626.301 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:26.302Z,1758396626.302 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:26.303Z,1758396626.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001007 2025-09-20T19:30:26.552Z,1758396626.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250486 2025-09-20T19:30:26.674Z,1758396626.674 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2025-09-20T19:30:26.805Z,1758396626.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503131 2025-09-20T19:30:27.056Z,1758396627.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754362 2025-09-20T19:30:27.106Z,1758396627.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:27.308Z,1758396627.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006474 2025-09-20T19:30:27.560Z,1758396627.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258723 2025-09-20T19:30:27.812Z,1758396627.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510566 2025-09-20T19:30:28.064Z,1758396628.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762985 2025-09-20T19:30:28.318Z,1758396628.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016762 2025-09-20T19:30:28.568Z,1758396628.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266560 2025-09-20T19:30:28.820Z,1758396628.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518801 2025-09-20T19:30:29.072Z,1758396629.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770592 2025-09-20T19:30:29.137Z,1758396629.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:29.324Z,1758396629.324 [DAT](INFO): DAT read: Rx Time:19:30:31.5198 2025-09-20T19:30:29.324Z,1758396629.324 [DAT](INFO): Rx dataTimestamp_ set to:1758396629.324164 2025-09-20T19:30:29.325Z,1758396629.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023533 2025-09-20T19:30:29.577Z,1758396629.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274981 2025-09-20T19:30:29.833Z,1758396629.833 [DAT](INFO): DAT read: 19:30:31.5198 LVL= 32752, 23377, 31202, 32755, AGC= 63, IDX= 435, 0.21, 2.930,-1.180,-2.206,-2.130, PHS=-1.121, 0.994,-0.120, RAW= 301.8, 2.7, CAL= 299.6, -1.2, ROT= 210.4, 1.2 2025-09-20T19:30:29.834Z,1758396629.834 [DAT](INFO): got valid direction response: 19:30:31.5198 LVL= 32752, 23377, 31202, 32755, AGC= 63, IDX= 435, 0.21, 2.930,-1.180,-2.206,-2.130, PHS=-1.121, 0.994,-0.120, RAW= 301.8, 2.7, CAL= 299.6, -1.2, ROT= 210.4, 1.2 2025-09-20T19:30:29.835Z,1758396629.835 [DAT](INFO): DAT read: Bearing 38.0, -19.3 (Local) 2025-09-20T19:30:29.836Z,1758396629.836 [DAT](INFO): Local bearing/azimuth received: Bearing 38.0, -19.3 (Local) 2025-09-20T19:30:29.837Z,1758396629.837 [DAT](INFO): DAT read: Range 11 to 50 : 117.6 m (Round-trip 156.9 ms) speed -0.2 m/s 2025-09-20T19:30:29.838Z,1758396629.838 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:30:29.839Z,1758396629.839 [DAT](INFO): direction in FSK: [-0.862325,-0.505923,-0.020942] 2025-09-20T19:30:29.839Z,1758396629.839 [DAT](INFO): publishing direction and range info 2025-09-20T19:30:29.842Z,1758396629.842 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:29.842Z,1758396629.842 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:29.842Z,1758396629.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:30.085Z,1758396630.085 [DAT](INFO): DAT read: user:15> 2025-09-20T19:30:30.086Z,1758396630.086 [DAT](INFO): DAT read: Tx time:19:30:32.7587 2025-09-20T19:30:30.086Z,1758396630.086 [DAT](INFO): Ping request sent. 2025-09-20T19:30:30.086Z,1758396630.086 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:30.086Z,1758396630.086 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:30.087Z,1758396630.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000962 2025-09-20T19:30:30.336Z,1758396630.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249935 2025-09-20T19:30:30.588Z,1758396630.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501771 2025-09-20T19:30:30.840Z,1758396630.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753801 2025-09-20T19:30:31.092Z,1758396631.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005729 2025-09-20T19:30:31.096Z,1758396631.096 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032723181662,35.0, +13.9, 0 2025-09-20T19:30:31.344Z,1758396631.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257820 2025-09-20T19:30:31.513Z,1758396631.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:31.596Z,1758396631.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510200 2025-09-20T19:30:31.639Z,1758396631.639 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:30:31.848Z,1758396631.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761732 2025-09-20T19:30:32.101Z,1758396632.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014617 2025-09-20T19:30:32.352Z,1758396632.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265785 2025-09-20T19:30:32.606Z,1758396632.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519174 2025-09-20T19:30:32.639Z,1758396632.639 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:30:32.857Z,1758396632.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770458 2025-09-20T19:30:33.109Z,1758396633.109 [DAT](INFO): DAT read: Rx Time:19:30:35.3208 2025-09-20T19:30:33.109Z,1758396633.109 [DAT](INFO): Rx dataTimestamp_ set to:1758396633.109034 2025-09-20T19:30:33.110Z,1758396633.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023948 2025-09-20T19:30:33.360Z,1758396633.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273725 2025-09-20T19:30:33.541Z,1758396633.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:33.621Z,1758396633.621 [DAT](INFO): DAT read: 19:30:35.3208 LVL= 32752, 25233, 31394, 32755, AGC= 64, IDX= 431, 0.32, 2.092,-1.974,-3.017,-2.990, PHS=-1.099, 1.061,-0.070, RAW= 301.6, 1.2, CAL= 299.8, -2.8, ROT= 210.2, 2.8 2025-09-20T19:30:33.623Z,1758396633.623 [DAT](INFO): got valid direction response: 19:30:35.3208 LVL= 32752, 25233, 31394, 32755, AGC= 64, IDX= 431, 0.32, 2.092,-1.974,-3.017,-2.990, PHS=-1.099, 1.061,-0.070, RAW= 301.6, 1.2, CAL= 299.8, -2.8, ROT= 210.2, 2.8 2025-09-20T19:30:33.625Z,1758396633.625 [DAT](INFO): DAT read: Bearing 42.3, -15.1 (Local) 2025-09-20T19:30:33.625Z,1758396633.625 [DAT](INFO): Local bearing/azimuth received: Bearing 42.3, -15.1 (Local) 2025-09-20T19:30:33.628Z,1758396633.628 [DAT](INFO): DAT read: Range 11 to 50 : 118.5 m (Round-trip 158.1 ms) speed -0.2 m/s 2025-09-20T19:30:33.629Z,1758396633.629 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:30:33.630Z,1758396633.630 [DAT](INFO): direction in FSK: [-0.863243,-0.502419,-0.048850] 2025-09-20T19:30:33.631Z,1758396633.631 [DAT](INFO): publishing direction and range info 2025-09-20T19:30:33.636Z,1758396633.636 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:33.636Z,1758396633.636 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:33.636Z,1758396633.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:33.864Z,1758396633.864 [DAT](INFO): DAT read: user:16> 2025-09-20T19:30:33.865Z,1758396633.865 [DAT](INFO): DAT read: Tx time:19:30:36.5086 2025-09-20T19:30:33.865Z,1758396633.865 [DAT](INFO): Ping request sent. 2025-09-20T19:30:33.865Z,1758396633.865 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:33.865Z,1758396633.865 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:33.866Z,1758396633.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719 2025-09-20T19:30:34.117Z,1758396634.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252069 2025-09-20T19:30:34.369Z,1758396634.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504408 2025-09-20T19:30:34.621Z,1758396634.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755466 2025-09-20T19:30:34.876Z,1758396634.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010693 2025-09-20T19:30:35.126Z,1758396635.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261006 2025-09-20T19:30:35.376Z,1758396635.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511047 2025-09-20T19:30:35.555Z,1758396635.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:35.629Z,1758396635.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764345 2025-09-20T19:30:35.883Z,1758396635.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017271 2025-09-20T19:30:36.132Z,1758396636.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266913 2025-09-20T19:30:36.384Z,1758396636.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518992 2025-09-20T19:30:36.636Z,1758396636.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770997 2025-09-20T19:30:36.891Z,1758396636.891 [DAT](INFO): DAT read: Rx Time:19:30:39.0720 2025-09-20T19:30:36.892Z,1758396636.892 [DAT](INFO): Rx dataTimestamp_ set to:1758396636.891169 2025-09-20T19:30:36.894Z,1758396636.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028499 2025-09-20T19:30:37.140Z,1758396637.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274922 2025-09-20T19:30:37.397Z,1758396637.397 [DAT](INFO): DAT read: 19:30:39.0720 LVL= 32752, 27281, 30930, 32755, AGC= 61, IDX= 443,-0.37, 1.185,-2.886, 2.315, 2.357, PHS=-1.070, 1.085,-0.086, RAW= 302.9, 0.8, CAL= 301.1, -3.1, ROT= 208.9, 3.1 2025-09-20T19:30:37.398Z,1758396637.398 [DAT](INFO): got valid direction response: 19:30:39.0720 LVL= 32752, 27281, 30930, 32755, AGC= 61, IDX= 443,-0.37, 1.185,-2.886, 2.315, 2.357, PHS=-1.070, 1.085,-0.086, RAW= 302.9, 0.8, CAL= 301.1, -3.1, ROT= 208.9, 3.1 2025-09-20T19:30:37.399Z,1758396637.399 [DAT](INFO): DAT read: Bearing 44.6, -11.6 (Local) 2025-09-20T19:30:37.400Z,1758396637.400 [DAT](INFO): Local bearing/azimuth received: Bearing 44.6, -11.6 (Local) 2025-09-20T19:30:37.401Z,1758396637.401 [DAT](INFO): DAT read: Range 11 to 50 : 119.4 m (Round-trip 159.2 ms) speed 0.0 m/s 2025-09-20T19:30:37.402Z,1758396637.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:30:37.403Z,1758396637.403 [DAT](INFO): direction in FSK: [-0.874183,-0.482575,-0.054079] 2025-09-20T19:30:37.403Z,1758396637.403 [DAT](INFO): publishing direction and range info 2025-09-20T19:30:37.407Z,1758396637.407 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:37.407Z,1758396637.407 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:37.407Z,1758396637.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:37.644Z,1758396637.644 [DAT](INFO): DAT read: user:17> 2025-09-20T19:30:37.645Z,1758396637.645 [DAT](INFO): DAT read: Tx time:19:30:40.3086 2025-09-20T19:30:37.645Z,1758396637.645 [DAT](INFO): Ping request sent. 2025-09-20T19:30:37.645Z,1758396637.645 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:37.646Z,1758396637.646 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:37.646Z,1758396637.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000716 2025-09-20T19:30:37.899Z,1758396637.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252986 2025-09-20T19:30:38.003Z,1758396638.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:38.148Z,1758396638.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502520 2025-09-20T19:30:38.401Z,1758396638.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755350 2025-09-20T19:30:38.652Z,1758396638.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006424 2025-09-20T19:30:38.907Z,1758396638.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260644 2025-09-20T19:30:39.156Z,1758396639.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510416 2025-09-20T19:30:39.408Z,1758396639.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762322 2025-09-20T19:30:39.661Z,1758396639.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014988 2025-09-20T19:30:39.914Z,1758396639.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268480 2025-09-20T19:30:40.013Z,1758396640.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:40.164Z,1758396640.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518413 2025-09-20T19:30:40.416Z,1758396640.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770608 2025-09-20T19:30:40.668Z,1758396640.668 [DAT](INFO): DAT read: Rx Time:19:30:42.8728 2025-09-20T19:30:40.668Z,1758396640.668 [DAT](INFO): Rx dataTimestamp_ set to:1758396640.668100 2025-09-20T19:30:40.669Z,1758396640.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023420 2025-09-20T19:30:40.924Z,1758396640.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277917 2025-09-20T19:30:41.177Z,1758396641.177 [DAT](INFO): DAT read: 19:30:42.8728 LVL= 32752, 24801, 32130, 32755, AGC= 63, IDX= 450,-0.01, 2.793,-1.306,-2.443,-2.427, PHS=-0.961, 1.166,-0.060, RAW= 305.0, -1.6, CAL= 303.7, -5.4, ROT= 206.3, 5.4 2025-09-20T19:30:41.178Z,1758396641.178 [DAT](INFO): got valid direction response: 19:30:42.8728 LVL= 32752, 24801, 32130, 32755, AGC= 63, IDX= 450,-0.01, 2.793,-1.306,-2.443,-2.427, PHS=-0.961, 1.166,-0.060, RAW= 305.0, -1.6, CAL= 303.7, -5.4, ROT= 206.3, 5.4 2025-09-20T19:30:41.183Z,1758396641.183 [DAT](INFO): DAT read: Bearing 49.2, -8.6 (Local) 2025-09-20T19:30:41.184Z,1758396641.184 [DAT](INFO): Local bearing/azimuth received: Bearing 49.2, -8.6 (Local) 2025-09-20T19:30:41.185Z,1758396641.185 [DAT](INFO): DAT read: Range 11 to 50 : 119.9 m (Round-trip 159.9 ms) speed 0.0 m/s 2025-09-20T19:30:41.186Z,1758396641.186 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:30:41.187Z,1758396641.187 [DAT](INFO): direction in FSK: [-0.892508,-0.441105,-0.094108] 2025-09-20T19:30:41.215Z,1758396641.215 [DAT](INFO): publishing direction and range info 2025-09-20T19:30:41.218Z,1758396641.218 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:41.218Z,1758396641.218 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:41.218Z,1758396641.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:41.424Z,1758396641.424 [DAT](INFO): DAT read: user:18> 2025-09-20T19:30:41.425Z,1758396641.425 [DAT](INFO): DAT read: Tx time:19:30:44.1087 2025-09-20T19:30:41.425Z,1758396641.425 [DAT](INFO): Ping request sent. 2025-09-20T19:30:41.425Z,1758396641.425 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:41.426Z,1758396641.426 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:41.426Z,1758396641.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-09-20T19:30:41.678Z,1758396641.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252159 2025-09-20T19:30:41.933Z,1758396641.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506166 2025-09-20T19:30:42.049Z,1758396642.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:42.180Z,1758396642.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754325 2025-09-20T19:30:42.432Z,1758396642.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006527 2025-09-20T19:30:42.684Z,1758396642.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258410 2025-09-20T19:30:42.936Z,1758396642.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510457 2025-09-20T19:30:43.188Z,1758396643.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762398 2025-09-20T19:30:43.440Z,1758396643.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014452 2025-09-20T19:30:43.693Z,1758396643.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267183 2025-09-20T19:30:43.948Z,1758396643.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521862 2025-09-20T19:30:44.090Z,1758396644.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:44.196Z,1758396644.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770886 2025-09-20T19:30:44.448Z,1758396644.448 [DAT](INFO): DAT read: Rx Time:19:30:46.6734 2025-09-20T19:30:44.449Z,1758396644.449 [DAT](INFO): Rx dataTimestamp_ set to:1758396644.448263 2025-09-20T19:30:44.449Z,1758396644.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023559 2025-09-20T19:30:44.700Z,1758396644.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274711 2025-09-20T19:30:44.966Z,1758396644.966 [DAT](INFO): DAT read: 19:30:46.6734 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 440, 0.39, 0.651, 2.871, 1.609, 1.683, PHS=-0.929, 1.233,-0.118, RAW= 308.2, -2.0, CAL= 306.8, -5.5, ROT= 203.2, 5.5 2025-09-20T19:30:44.969Z,1758396644.969 [DAT](INFO): got valid direction response: 19:30:46.6734 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 440, 0.39, 0.651, 2.871, 1.609, 1.683, PHS=-0.929, 1.233,-0.118, RAW= 308.2, -2.0, CAL= 306.8, -5.5, ROT= 203.2, 5.5 2025-09-20T19:30:44.972Z,1758396644.972 [DAT](INFO): DAT read: Bearing 51.8, -6.2 (Local) 2025-09-20T19:30:44.972Z,1758396644.972 [DAT](INFO): Local bearing/azimuth received: Bearing 51.8, -6.2 (Local) 2025-09-20T19:30:45.011Z,1758396645.011 [DAT](INFO): DAT read: Range 11 to 50 : 120.3 m (Round-trip 160.5 ms) speed -0.3 m/s 2025-09-20T19:30:45.021Z,1758396645.021 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:30:45.033Z,1758396645.033 [DAT](INFO): direction in FSK: [-0.914904,-0.392128,-0.095846] 2025-09-20T19:30:45.034Z,1758396645.034 [DAT](INFO): publishing direction and range info 2025-09-20T19:30:45.047Z,1758396645.047 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:45.047Z,1758396645.047 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:45.047Z,1758396645.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:45.204Z,1758396645.204 [DAT](INFO): DAT read: user:19> 2025-09-20T19:30:45.205Z,1758396645.205 [DAT](INFO): DAT read: Tx time:19:30:47.9087 2025-09-20T19:30:45.205Z,1758396645.205 [DAT](INFO): Ping request sent. 2025-09-20T19:30:45.205Z,1758396645.205 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:30:45.205Z,1758396645.205 [DAT](INFO): publishing transmit ping time 2025-09-20T19:30:45.206Z,1758396645.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-09-20T19:30:45.456Z,1758396645.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250967 2025-09-20T19:30:45.708Z,1758396645.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503066 2025-09-20T19:30:45.960Z,1758396645.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755050 2025-09-20T19:30:46.128Z,1758396646.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:46.213Z,1758396646.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007346 2025-09-20T19:30:46.464Z,1758396646.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259106 2025-09-20T19:30:46.716Z,1758396646.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510943 2025-09-20T19:30:46.874Z,1758396646.874 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 120.30 m. Transitioning docking module to standby. 2025-09-20T19:30:46.969Z,1758396646.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763573 2025-09-20T19:30:47.220Z,1758396647.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015035 2025-09-20T19:30:47.364Z,1758396647.364 [DockingStepper](INFO): Changing to mode: 1 2025-09-20T19:30:47.472Z,1758396647.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266959 2025-09-20T19:30:47.724Z,1758396647.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519112 2025-09-20T19:30:47.976Z,1758396647.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771038 2025-09-20T19:30:48.134Z,1758396648.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:48.229Z,1758396648.229 [DAT](INFO): DAT read: Rx Time:19:30:50.4742 2025-09-20T19:30:48.230Z,1758396648.230 [DAT](INFO): Rx dataTimestamp_ set to:1758396648.229307 2025-09-20T19:30:48.230Z,1758396648.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025463 2025-09-20T19:30:48.480Z,1758396648.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275048 2025-09-20T19:30:48.734Z,1758396648.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528705 2025-09-20T19:30:48.996Z,1758396648.996 [DAT](INFO): DAT read: 19:30:50.4742 LVL= 32752, 32113, 31474, 30771, AGC= 65, IDX= 432, 0.25, 2.320,-1.621,-3.106,-2.967, PHS=-0.894, 1.391,-0.183, RAW= 312.3, -3.1, CAL= 311.1, -6.5, ROT= 198.9, 6.5 2025-09-20T19:30:48.998Z,1758396648.998 [DAT](INFO): got valid direction response: 19:30:50.4742 LVL= 32752, 32113, 31474, 30771, AGC= 65, IDX= 432, 0.25, 2.320,-1.621,-3.106,-2.967, PHS=-0.894, 1.391,-0.183, RAW= 312.3, -3.1, CAL= 311.1, -6.5, ROT= 198.9, 6.5 2025-09-20T19:30:48.998Z,1758396648.998 [DAT](INFO): DAT read: $Error in header 2025-09-20T19:30:48.998Z,1758396648.998 [DAT](INFO): Received a bad header 2025-09-20T19:30:49.011Z,1758396649.011 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-09-20T19:30:49.012Z,1758396649.012 [DAT](INFO): direction in FSK: [-0.940004,-0.321835,-0.113203] 2025-09-20T19:30:49.019Z,1758396649.019 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:49.019Z,1758396649.019 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:49.020Z,1758396649.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:49.244Z,1758396649.244 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:49.244Z,1758396649.244 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:49.244Z,1758396649.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:49.496Z,1758396649.496 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:49.496Z,1758396649.496 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:49.496Z,1758396649.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:49.748Z,1758396649.748 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:49.748Z,1758396649.748 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:49.748Z,1758396649.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:49.000Z,1758396650.000 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:50.000Z,1758396650.000 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:50.000Z,1758396650.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:50.155Z,1758396650.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:50.252Z,1758396650.252 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:50.252Z,1758396650.252 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:50.252Z,1758396650.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:50.504Z,1758396650.504 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:50.504Z,1758396650.504 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:50.504Z,1758396650.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:50.756Z,1758396650.756 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:50.756Z,1758396650.756 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:50.756Z,1758396650.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:51.008Z,1758396651.008 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:51.008Z,1758396651.008 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:51.009Z,1758396651.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:51.260Z,1758396651.260 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:51.260Z,1758396651.260 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:51.260Z,1758396651.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:51.512Z,1758396651.512 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:51.512Z,1758396651.512 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:51.512Z,1758396651.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:51.764Z,1758396651.764 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:51.764Z,1758396651.764 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:51.764Z,1758396651.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:52.016Z,1758396652.016 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:52.016Z,1758396652.016 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:52.016Z,1758396652.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:52.197Z,1758396652.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:52.268Z,1758396652.268 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:52.268Z,1758396652.268 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:52.268Z,1758396652.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:52.520Z,1758396652.520 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:52.520Z,1758396652.520 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:52.520Z,1758396652.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:52.772Z,1758396652.772 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:52.772Z,1758396652.772 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:52.772Z,1758396652.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:53.027Z,1758396653.027 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:53.027Z,1758396653.027 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:53.027Z,1758396653.027 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:53.276Z,1758396653.276 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:53.276Z,1758396653.276 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:53.276Z,1758396653.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:53.375Z,1758396653.375 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby. 2025-09-20T19:30:53.528Z,1758396653.528 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:53.528Z,1758396653.528 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:53.528Z,1758396653.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:53.769Z,1758396653.769 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2025-09-20T19:30:53.770Z,1758396653.770 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2025-09-20T19:30:53.770Z,1758396653.770 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2025-09-20T19:30:53.781Z,1758396653.781 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:53.781Z,1758396653.781 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:53.781Z,1758396653.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:54.032Z,1758396654.032 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:54.032Z,1758396654.032 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:54.032Z,1758396654.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:54.205Z,1758396654.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:54.206Z,1758396654.206 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2025-09-20T19:30:54.206Z,1758396654.206 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2025-09-20T19:30:54.207Z,1758396654.207 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2025-09-20T19:30:54.284Z,1758396654.284 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:54.284Z,1758396654.284 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:54.284Z,1758396654.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:54.536Z,1758396654.536 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:54.536Z,1758396654.536 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:54.536Z,1758396654.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:54.615Z,1758396654.615 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2025-09-20T19:30:54.618Z,1758396654.618 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-09-20T19:30:54.618Z,1758396654.618 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2025-09-20T19:30:54.618Z,1758396654.618 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-09-20T19:30:54.618Z,1758396654.618 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-09-20T19:30:54.788Z,1758396654.788 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:54.788Z,1758396654.788 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:54.789Z,1758396654.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:54.974Z,1758396654.974 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-09-20T19:30:54.974Z,1758396654.974 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-09-20T19:30:54.974Z,1758396654.974 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-09-20T19:30:54.974Z,1758396654.974 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-09-20T19:30:54.974Z,1758396654.974 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-09-20T19:30:54.975Z,1758396654.975 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-09-20T19:30:54.975Z,1758396654.975 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-09-20T19:30:54.975Z,1758396654.975 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-09-20T19:30:54.976Z,1758396654.976 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-09-20T19:30:54.976Z,1758396654.976 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-09-20T19:30:54.976Z,1758396654.976 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-09-20T19:30:54.976Z,1758396654.976 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-09-20T19:30:54.977Z,1758396654.977 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-09-20T19:30:54.977Z,1758396654.977 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-09-20T19:30:54.977Z,1758396654.977 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-09-20T19:30:54.978Z,1758396654.978 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 120.300003 m 2025-09-20T19:30:54.978Z,1758396654.978 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-09-20T19:30:54.978Z,1758396654.978 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-09-20T19:30:54.979Z,1758396654.979 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg ) 2025-09-20T19:30:54.979Z,1758396654.979 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-09-20T19:30:54.979Z,1758396654.979 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-09-20T19:30:54.979Z,1758396654.979 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-09-20T19:30:54.981Z,1758396654.981 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630 2025-09-20T19:30:55.040Z,1758396655.040 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:30:55.040Z,1758396655.040 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:30:55.040Z,1758396655.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-09-20T19:30:55.292Z,1758396655.292 [DAT](INFO): Reached modem response timeout 2025-09-20T19:30:55.292Z,1758396655.292 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:55.292Z,1758396655.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:55.400Z,1758396655.400 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630 2025-09-20T19:30:55.402Z,1758396655.402 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-09-20T19:30:55.402Z,1758396655.402 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-09-20T19:30:55.402Z,1758396655.402 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-09-20T19:30:55.402Z,1758396655.402 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-09-20T19:30:55.414Z,1758396655.414 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-09-20T19:30:55.414Z,1758396655.414 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-09-20T19:30:55.414Z,1758396655.414 [HorizontalControl](DEBUG): kdHeading = 0.050000 2025-09-20T19:30:55.547Z,1758396655.547 [DAT](INFO): DAT read: 2025-09-20T19:30:55.549Z,1758396655.549 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:55.796Z,1758396655.796 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:55.828Z,1758396655.828 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-09-20T19:30:55.828Z,1758396655.828 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-09-20T19:30:55.829Z,1758396655.829 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-09-20T19:30:55.830Z,1758396655.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-09-20T19:30:55.830Z,1758396655.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-09-20T19:30:55.830Z,1758396655.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-09-20T19:30:55.830Z,1758396655.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-09-20T19:30:55.831Z,1758396655.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-09-20T19:30:55.831Z,1758396655.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-09-20T19:30:55.831Z,1758396655.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-09-20T19:30:55.831Z,1758396655.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-09-20T19:30:55.831Z,1758396655.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-09-20T19:30:55.831Z,1758396655.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-09-20T19:30:55.831Z,1758396655.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-09-20T19:30:55.831Z,1758396655.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-09-20T19:30:55.832Z,1758396655.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-09-20T19:30:55.832Z,1758396655.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-09-20T19:30:55.832Z,1758396655.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-09-20T19:30:55.832Z,1758396655.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-09-20T19:30:55.832Z,1758396655.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-09-20T19:30:55.833Z,1758396655.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-09-20T19:30:55.833Z,1758396655.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-09-20T19:30:55.833Z,1758396655.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-09-20T19:30:55.833Z,1758396655.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-09-20T19:30:55.833Z,1758396655.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-09-20T19:30:55.833Z,1758396655.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-09-20T19:30:55.834Z,1758396655.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-09-20T19:30:55.834Z,1758396655.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-09-20T19:30:55.834Z,1758396655.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-09-20T19:30:55.835Z,1758396655.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-09-20T19:30:55.835Z,1758396655.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-09-20T19:30:55.835Z,1758396655.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-09-20T19:30:55.836Z,1758396655.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-09-20T19:30:55.836Z,1758396655.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00. 2025-09-20T19:30:55.837Z,1758396655.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-09-20T19:30:55.837Z,1758396655.837 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-09-20T19:30:55.837Z,1758396655.837 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-09-20T19:30:55.837Z,1758396655.837 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-09-20T19:30:55.837Z,1758396655.837 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-09-20T19:30:55.837Z,1758396655.837 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-09-20T19:30:55.837Z,1758396655.837 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-09-20T19:30:55.837Z,1758396655.837 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-09-20T19:30:55.838Z,1758396655.838 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-09-20T19:30:55.838Z,1758396655.838 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-09-20T19:30:56.048Z,1758396656.048 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:56.226Z,1758396656.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:56.230Z,1758396656.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.300003 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-09-20T19:30:56.233Z,1758396656.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.853363 m, bearing: 275.341346 deg, lat: 36.779426 deg, lon: -121.859569 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-09-20T19:30:56.234Z,1758396656.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:56.253Z,1758396656.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.345039 m, bearing: 274.981094 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 78.168155 deg, new cmd heading: 274.981094 deg. 2025-09-20T19:30:56.254Z,1758396656.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799325 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:56.278Z,1758396656.278 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-09-20T19:30:56.278Z,1758396656.278 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-09-20T19:30:56.300Z,1758396656.300 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:56.554Z,1758396656.554 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:56.613Z,1758396656.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:56.632Z,1758396656.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.364510 m, bearing: 274.970117 deg, approach rate: 0.050654 m/s, LOS rate: nan deg/s, cmd heading: 274.981094 deg, new cmd heading: 274.970117 deg. 2025-09-20T19:30:56.632Z,1758396656.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799134 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:56.804Z,1758396656.804 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:56.998Z,1758396656.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:57.001Z,1758396657.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.384109 m, bearing: 274.959150 deg, approach rate: 0.050917 m/s, LOS rate: nan deg/s, cmd heading: 274.970111 deg, new cmd heading: 274.959150 deg. 2025-09-20T19:30:57.001Z,1758396657.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798943 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:57.058Z,1758396657.058 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:57.081Z,1758396657.081 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-09-20T19:30:57.205Z,1758396657.205 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-09-20T19:30:57.308Z,1758396657.308 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:57.433Z,1758396657.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:57.436Z,1758396657.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.406731 m, bearing: 274.946278 deg, approach rate: 0.051959 m/s, LOS rate: nan deg/s, cmd heading: 274.959155 deg, new cmd heading: 274.946278 deg. 2025-09-20T19:30:57.437Z,1758396657.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798718 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:57.561Z,1758396657.561 [DAT](INFO): DAT read: Response Not Received 2025-09-20T19:30:57.562Z,1758396657.562 [DAT](INFO): response not received 2025-09-20T19:30:57.563Z,1758396657.563 [DAT](INFO): DAT read: user:21>Tx time:19:31:00.3587 2025-09-20T19:30:57.564Z,1758396657.564 [DAT](ERROR): No response from remote modem. 2025-09-20T19:30:57.564Z,1758396657.564 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:57.565Z,1758396657.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:30:57.812Z,1758396657.812 [DAT](INFO): DAT read: 2025-09-20T19:30:57.812Z,1758396657.812 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:57.825Z,1758396657.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:57.827Z,1758396657.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.427223 m, bearing: 274.934769 deg, approach rate: 0.052365 m/s, LOS rate: nan deg/s, cmd heading: 274.946287 deg, new cmd heading: 274.934769 deg. 2025-09-20T19:30:57.828Z,1758396657.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798517 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:58.065Z,1758396658.065 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:58.254Z,1758396658.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:30:58.257Z,1758396658.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:58.275Z,1758396658.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.451569 m, bearing: 274.921609 deg, approach rate: 0.056358 m/s, LOS rate: nan deg/s, cmd heading: 274.934758 deg, new cmd heading: 274.921609 deg. 2025-09-20T19:30:58.276Z,1758396658.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798287 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:58.316Z,1758396658.316 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:58.568Z,1758396658.568 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:58.613Z,1758396658.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:58.616Z,1758396658.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.471779 m, bearing: 274.910750 deg, approach rate: 0.056629 m/s, LOS rate: nan deg/s, cmd heading: 274.921616 deg, new cmd heading: 274.910750 deg. 2025-09-20T19:30:58.617Z,1758396658.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798098 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:58.820Z,1758396658.820 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:59.010Z,1758396659.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:59.036Z,1758396659.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.494370 m, bearing: 274.898691 deg, approach rate: 0.056914 m/s, LOS rate: nan deg/s, cmd heading: 274.910743 deg, new cmd heading: 274.898691 deg. 2025-09-20T19:30:59.037Z,1758396659.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797887 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:59.073Z,1758396659.073 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:59.324Z,1758396659.324 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:59.447Z,1758396659.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:59.449Z,1758396659.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.520096 m, bearing: 274.885353 deg, approach rate: 0.058940 m/s, LOS rate: nan deg/s, cmd heading: 274.898694 deg, new cmd heading: 274.885353 deg. 2025-09-20T19:30:59.450Z,1758396659.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797655 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:30:59.576Z,1758396659.576 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:59.828Z,1758396659.828 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:30:59.830Z,1758396659.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:30:59.832Z,1758396659.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.542633 m, bearing: 274.873670 deg, approach rate: 0.058859 m/s, LOS rate: nan deg/s, cmd heading: 274.885362 deg, new cmd heading: 274.873670 deg. 2025-09-20T19:30:59.833Z,1758396659.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797451 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:31:00.080Z,1758396660.080 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:00.293Z,1758396660.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:00.295Z,1758396660.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:31:00.298Z,1758396660.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.570389 m, bearing: 274.859531 deg, approach rate: 0.059639 m/s, LOS rate: nan deg/s, cmd heading: 274.873669 deg, new cmd heading: 274.859531 deg. 2025-09-20T19:31:00.299Z,1758396660.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797204 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:31:00.332Z,1758396660.332 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:00.584Z,1758396660.584 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:00.640Z,1758396660.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:31:00.643Z,1758396660.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.590790 m, bearing: 274.849118 deg, approach rate: 0.059131 m/s, LOS rate: nan deg/s, cmd heading: 274.859544 deg, new cmd heading: 274.849118 deg. 2025-09-20T19:31:00.644Z,1758396660.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797022 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:31:00.704Z,1758396660.704 [DockingStepper](INFO): Changing to mode: 1 2025-09-20T19:31:00.836Z,1758396660.836 [DAT](INFO): DAT read: Rx Time:19:31:02.9257 2025-09-20T19:31:00.837Z,1758396660.837 [DAT](INFO): Rx dataTimestamp_ set to:1758396660.836302 2025-09-20T19:31:00.837Z,1758396660.837 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:01.042Z,1758396661.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.85 m. 2025-09-20T19:31:01.047Z,1758396661.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 119.853363 m, nav range: 119.614403 m, bearing: 274.837053 deg, approach rate: 0.058816 m/s, LOS rate: nan deg/s, cmd heading: 274.849107 deg, new cmd heading: 274.837053 deg. 2025-09-20T19:31:01.049Z,1758396661.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796812 target range: 119.853363 and range: 120.30 m. 2025-09-20T19:31:01.088Z,1758396661.088 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:01.347Z,1758396661.347 [DAT](INFO): DAT read: 19:31:02.9257 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 464, 0.27, 0.757,-3.137, 1.438, 1.754, PHS=-0.895, 1.437,-0.360, RAW= 317.3, -1.7, CAL= 316.0, -4.9, ROT= 194.0, 4.9 2025-09-20T19:31:01.348Z,1758396661.348 [DAT](INFO): got valid direction response: 19:31:02.9257 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 464, 0.27, 0.757,-3.137, 1.438, 1.754, PHS=-0.895, 1.437,-0.360, RAW= 317.3, -1.7, CAL= 316.0, -4.9, ROT= 194.0, 4.9 2025-09-20T19:31:01.349Z,1758396661.349 [DAT](INFO): DAT read: Bearing 62.2, -4.1 (Local) 2025-09-20T19:31:01.349Z,1758396661.349 [DAT](INFO): Local bearing/azimuth received: Bearing 62.2, -4.1 (Local) 2025-09-20T19:31:01.351Z,1758396661.351 [DAT](INFO): DAT read: Range 11 to 50 : 122.1 m (Round-trip 162.8 ms) speed 0.0 m/s 2025-09-20T19:31:01.352Z,1758396661.352 [DAT](INFO): DAT read: user:22>Tx time:19:31:04.0087 2025-09-20T19:31:01.353Z,1758396661.353 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:01.354Z,1758396661.354 [DAT](INFO): direction in FSK: [-0.966750,-0.241038,-0.085417] 2025-09-20T19:31:01.354Z,1758396661.354 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:01.357Z,1758396661.357 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:01.357Z,1758396661.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:01.513Z,1758396661.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 16.386273 s, deltaX: 1.799995 m, approachRate: 0.109848 m/s, rangeRepo size: 2 2025-09-20T19:31:01.515Z,1758396661.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.621338 m, bearing: 273.198235 deg, lat: 36.779426 deg, lon: -121.859569 deg, deltaT: 16.386273 s, deltaX: 1.767975 m, approachRate: 0.107894 m/s, posRepo size: 2 2025-09-20T19:31:01.516Z,1758396661.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:01.517Z,1758396661.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 273.198235 deg. 2025-09-20T19:31:01.518Z,1758396661.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.768209 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:01.592Z,1758396661.592 [DAT](INFO): DAT read: 2025-09-20T19:31:01.593Z,1758396661.593 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:01.844Z,1758396661.844 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:01.881Z,1758396661.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:01.884Z,1758396661.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 119.697594 m, bearing: 274.808012 deg, approach rate: 0.096795 m/s, LOS rate: -0.033714 deg/s, cmd heading: 273.198223 deg, new cmd heading: 273.173313 deg. 2025-09-20T19:31:01.885Z,1758396661.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767774 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:02.096Z,1758396662.096 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:02.327Z,1758396662.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:02.329Z,1758396662.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:02.332Z,1758396662.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 119.757133 m, bearing: 274.790203 deg, approach rate: 0.132912 m/s, LOS rate: -0.039735 deg/s, cmd heading: 273.173307 deg, new cmd heading: 273.137707 deg. 2025-09-20T19:31:02.333Z,1758396662.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767152 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:02.350Z,1758396662.350 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:02.600Z,1758396662.600 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:02.672Z,1758396662.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:02.675Z,1758396662.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 119.801308 m, bearing: 274.776970 deg, approach rate: 0.128722 m/s, LOS rate: -0.038548 deg/s, cmd heading: 273.137708 deg, new cmd heading: 273.111250 deg. 2025-09-20T19:31:02.676Z,1758396662.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766691 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:02.764Z,1758396662.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:31:02.852Z,1758396662.852 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:03.090Z,1758396663.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:03.093Z,1758396663.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 119.854965 m, bearing: 274.760841 deg, approach rate: 0.128562 m/s, LOS rate: -0.038628 deg/s, cmd heading: 273.111261 deg, new cmd heading: 273.079017 deg. 2025-09-20T19:31:03.094Z,1758396663.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766128 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:03.104Z,1758396663.104 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:03.356Z,1758396663.356 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:03.511Z,1758396663.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:03.514Z,1758396663.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 119.924324 m, bearing: 274.742931 deg, approach rate: 0.164653 m/s, LOS rate: -0.042492 deg/s, cmd heading: 273.079023 deg, new cmd heading: 273.043224 deg. 2025-09-20T19:31:03.515Z,1758396663.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.765503 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:03.609Z,1758396663.609 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:03.768Z,1758396663.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:31:03.860Z,1758396663.860 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:03.901Z,1758396663.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:03.908Z,1758396663.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 119.985893 m, bearing: 274.726963 deg, approach rate: 0.157952 m/s, LOS rate: -0.040942 deg/s, cmd heading: 273.043232 deg, new cmd heading: 273.011314 deg. 2025-09-20T19:31:03.909Z,1758396663.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764946 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:04.112Z,1758396664.112 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:04.351Z,1758396664.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:04.356Z,1758396664.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:04.361Z,1758396664.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.070625 m, bearing: 274.705356 deg, approach rate: 0.187313 m/s, LOS rate: -0.047734 deg/s, cmd heading: 273.011322 deg, new cmd heading: 272.968137 deg. 2025-09-20T19:31:04.362Z,1758396664.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764193 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:04.365Z,1758396664.365 [DAT](INFO): DAT read: Rx Time:19:31:06.6080 2025-09-20T19:31:04.366Z,1758396664.366 [DAT](INFO): Rx dataTimestamp_ set to:1758396664.365550 2025-09-20T19:31:04.366Z,1758396664.366 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:04.619Z,1758396664.619 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:04.768Z,1758396664.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:04.770Z,1758396664.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.145203 m, bearing: 274.686245 deg, approach rate: 0.180200 m/s, LOS rate: -0.046148 deg/s, cmd heading: 272.968128 deg, new cmd heading: 272.929931 deg. 2025-09-20T19:31:04.772Z,1758396664.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763526 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:04.871Z,1758396664.871 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:05.125Z,1758396665.125 [DAT](INFO): DAT read: 19:31:06.6080 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 266, 0.17,-1.492, 0.853,-0.783,-0.464, PHS=-0.926, 1.363,-0.363, RAW= 316.3, -0.7, CAL= 314.8, -3.9, ROT= 195.2, 3.9 2025-09-20T19:31:05.126Z,1758396665.126 [DAT](INFO): got valid direction response: 19:31:06.6080 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 266, 0.17,-1.492, 0.853,-0.783,-0.464, PHS=-0.926, 1.363,-0.363, RAW= 316.3, -0.7, CAL= 314.8, -3.9, ROT= 195.2, 3.9 2025-09-20T19:31:05.127Z,1758396665.127 [DAT](INFO): DAT read: Bearing 60.9, -6.6 (Local) 2025-09-20T19:31:05.128Z,1758396665.128 [DAT](INFO): Local bearing/azimuth received: Bearing 60.9, -6.6 (Local) 2025-09-20T19:31:05.129Z,1758396665.129 [DAT](INFO): DAT read: Range 11 to 50 : 146.3 m (Round-trip 195.1 ms) speed -0.1 m/s 2025-09-20T19:31:05.130Z,1758396665.130 [DAT](INFO): DAT read: user:23>Tx time:19:31:07.7087 2025-09-20T19:31:05.138Z,1758396665.138 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:05.146Z,1758396665.146 [DAT](INFO): direction in FSK: [-0.962782,-0.261582,-0.068015] 2025-09-20T19:31:05.146Z,1758396665.146 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:05.156Z,1758396665.156 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:05.157Z,1758396665.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:05.300Z,1758396665.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 146.300003 m, deltaT: 3.779703 s, deltaX: 24.200005 m, approachRate: 6.402621 m/s, rangeRepo size: 2 2025-09-20T19:31:05.302Z,1758396665.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:05.326Z,1758396665.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.231789 m, bearing: 274.663751 deg, approach rate: 0.170470 m/s, LOS rate: -0.044255 deg/s, cmd heading: 272.929933 deg, new cmd heading: 272.884977 deg. 2025-09-20T19:31:05.334Z,1758396665.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762742 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:05.372Z,1758396665.372 [DAT](INFO): DAT read: 2025-09-20T19:31:05.372Z,1758396665.372 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:05.624Z,1758396665.624 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:05.728Z,1758396665.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:05.731Z,1758396665.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.329735 m, bearing: 274.639373 deg, approach rate: 0.216000 m/s, LOS rate: -0.053718 deg/s, cmd heading: 272.884991 deg, new cmd heading: 272.836273 deg. 2025-09-20T19:31:05.732Z,1758396665.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761891 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:05.876Z,1758396665.876 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:06.118Z,1758396666.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:06.124Z,1758396666.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.408249 m, bearing: 274.619461 deg, approach rate: 0.201726 m/s, LOS rate: -0.051126 deg/s, cmd heading: 272.836278 deg, new cmd heading: 272.796480 deg. 2025-09-20T19:31:06.125Z,1758396666.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761197 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:06.128Z,1758396666.128 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:06.380Z,1758396666.380 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:06.532Z,1758396666.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:06.538Z,1758396666.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:06.564Z,1758396666.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.499397 m, bearing: 274.596527 deg, approach rate: 0.217245 m/s, LOS rate: -0.054621 deg/s, cmd heading: 272.796471 deg, new cmd heading: 272.750638 deg. 2025-09-20T19:31:06.566Z,1758396666.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760396 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:06.632Z,1758396666.632 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:06.884Z,1758396666.884 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:06.932Z,1758396666.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:06.935Z,1758396666.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.583099 m, bearing: 274.575251 deg, approach rate: 0.212009 m/s, LOS rate: -0.053851 deg/s, cmd heading: 272.750627 deg, new cmd heading: 272.708106 deg. 2025-09-20T19:31:06.936Z,1758396666.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759655 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:07.136Z,1758396667.136 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:07.385Z,1758396667.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:07.388Z,1758396667.388 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:07.392Z,1758396667.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.683815 m, bearing: 274.549350 deg, approach rate: 0.222152 m/s, LOS rate: -0.057084 deg/s, cmd heading: 272.708116 deg, new cmd heading: 272.656356 deg. 2025-09-20T19:31:07.393Z,1758396667.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.758751 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:07.640Z,1758396667.640 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:07.801Z,1758396667.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:07.806Z,1758396667.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.785919 m, bearing: 274.523736 deg, approach rate: 0.245589 m/s, LOS rate: -0.061555 deg/s, cmd heading: 272.656343 deg, new cmd heading: 272.605160 deg. 2025-09-20T19:31:07.808Z,1758396667.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757858 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:07.892Z,1758396667.892 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:08.126Z,1758396668.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:08.129Z,1758396668.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.866280 m, bearing: 274.503341 deg, approach rate: 0.247020 m/s, LOS rate: -0.062650 deg/s, cmd heading: 272.605171 deg, new cmd heading: 272.564409 deg. 2025-09-20T19:31:08.130Z,1758396668.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757146 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:08.144Z,1758396668.144 [DAT](INFO): DAT read: Rx Time:19:31:10.3086 2025-09-20T19:31:08.144Z,1758396668.144 [DAT](INFO): Rx dataTimestamp_ set to:1758396668.144086 2025-09-20T19:31:08.145Z,1758396668.145 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:08.396Z,1758396668.396 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:08.599Z,1758396668.599 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +7.51, +62.6 +8.35, 22.13, 0.00 2025-09-20T19:31:08.617Z,1758396668.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:08.619Z,1758396668.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.62 m. 2025-09-20T19:31:08.622Z,1758396668.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.621338 m, nav range: 120.985992 m, bearing: 274.473018 deg, approach rate: 0.243055 m/s, LOS rate: -0.061505 deg/s, cmd heading: 272.564409 deg, new cmd heading: 272.503823 deg. 2025-09-20T19:31:08.623Z,1758396668.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.756089 target range: 121.621338 and range: 122.10 m. 2025-09-20T19:31:08.654Z,1758396668.654 [DAT](INFO): DAT read: 19:31:10.3086 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 433, 0.04, 0.000, 2.380, 0.823, 1.111, PHS=-1.009, 1.314,-0.332, RAW= 313.5, 0.3, CAL= 311.7, -2.8, ROT= 198.3, 2.8 2025-09-20T19:31:08.655Z,1758396668.655 [DAT](INFO): got valid direction response: 19:31:10.3086 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 433, 0.04, 0.000, 2.380, 0.823, 1.111, PHS=-1.009, 1.314,-0.332, RAW= 313.5, 0.3, CAL= 311.7, -2.8, ROT= 198.3, 2.8 2025-09-20T19:31:08.656Z,1758396668.656 [DAT](INFO): DAT read: Bearing 58.2, -10.7 (Local) 2025-09-20T19:31:08.656Z,1758396668.656 [DAT](INFO): Local bearing/azimuth received: Bearing 58.2, -10.7 (Local) 2025-09-20T19:31:08.658Z,1758396668.658 [DAT](INFO): DAT read: Range 11 to 50 : 146.8 m (Round-trip 195.8 ms) speed -0.3 m/s 2025-09-20T19:31:08.659Z,1758396668.659 [DAT](INFO): DAT read: user:24>Tx time:19:31:11.4087 2025-09-20T19:31:08.660Z,1758396668.660 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:08.661Z,1758396668.661 [DAT](INFO): direction in FSK: [-0.948292,-0.313618,-0.048850] 2025-09-20T19:31:08.661Z,1758396668.661 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:08.664Z,1758396668.664 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:08.664Z,1758396668.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:08.900Z,1758396668.900 [DAT](INFO): DAT read: 2025-09-20T19:31:08.900Z,1758396668.900 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:09.041Z,1758396669.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.800003 m, deltaT: 7.307881 s, deltaX: 24.700005 m, approachRate: 3.379913 m/s, rangeRepo size: 3 2025-09-20T19:31:09.061Z,1758396669.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.217377 m, bearing: 274.102244 deg, lat: 36.779426 deg, lon: -121.859590 deg, deltaT: 7.307881 s, deltaX: 24.596039 m, approachRate: 3.365687 m/s, posRepo size: 3 2025-09-20T19:31:09.062Z,1758396669.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:09.066Z,1758396669.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 122.966316 m, bearing: 274.378968 deg, approach rate: 0.000000 m/s, LOS rate: -0.061505 deg/s, cmd heading: 272.503811 deg, new cmd heading: 272.452002 deg. 2025-09-20T19:31:09.075Z,1758396669.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.755185 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:09.152Z,1758396669.152 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:09.404Z,1758396669.404 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:09.461Z,1758396669.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:09.464Z,1758396669.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 123.088341 m, bearing: 274.349909 deg, approach rate: 0.289871 m/s, LOS rate: -0.068962 deg/s, cmd heading: 272.452011 deg, new cmd heading: 272.393951 deg. 2025-09-20T19:31:09.465Z,1758396669.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754171 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:09.656Z,1758396669.656 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:09.840Z,1758396669.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:09.842Z,1758396669.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 123.195076 m, bearing: 274.324107 deg, approach rate: 0.281804 m/s, LOS rate: -0.068063 deg/s, cmd heading: 272.393955 deg, new cmd heading: 272.342396 deg. 2025-09-20T19:31:09.844Z,1758396669.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.753272 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:09.909Z,1758396669.909 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:10.160Z,1758396670.160 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:10.239Z,1758396670.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:10.242Z,1758396670.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 123.307144 m, bearing: 274.296673 deg, approach rate: 0.280968 m/s, LOS rate: -0.068718 deg/s, cmd heading: 272.342400 deg, new cmd heading: 272.287582 deg. 2025-09-20T19:31:10.242Z,1758396670.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752315 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:10.412Z,1758396670.412 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:10.664Z,1758396670.664 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:10.701Z,1758396670.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:10.708Z,1758396670.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:10.710Z,1758396670.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 123.442665 m, bearing: 274.264870 deg, approach rate: 0.288988 m/s, LOS rate: -0.067744 deg/s, cmd heading: 272.287595 deg, new cmd heading: 272.224058 deg. 2025-09-20T19:31:10.716Z,1758396670.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.751206 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:10.916Z,1758396670.916 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:11.080Z,1758396671.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:11.082Z,1758396671.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 123.563347 m, bearing: 274.235545 deg, approach rate: 0.324275 m/s, LOS rate: -0.078721 deg/s, cmd heading: 272.224047 deg, new cmd heading: 272.165454 deg. 2025-09-20T19:31:11.100Z,1758396671.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.750183 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:11.168Z,1758396671.168 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:11.422Z,1758396671.422 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:11.494Z,1758396671.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:11.497Z,1758396671.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 123.699577 m, bearing: 274.200832 deg, approach rate: 0.329008 m/s, LOS rate: -0.083742 deg/s, cmd heading: 272.165444 deg, new cmd heading: 272.096095 deg. 2025-09-20T19:31:11.498Z,1758396671.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.748973 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:11.672Z,1758396671.672 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:11.880Z,1758396671.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:11.883Z,1758396671.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 123.826019 m, bearing: 274.168109 deg, approach rate: 0.327465 m/s, LOS rate: -0.084662 deg/s, cmd heading: 272.096104 deg, new cmd heading: 272.030724 deg. 2025-09-20T19:31:11.884Z,1758396671.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.747832 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:11.924Z,1758396671.924 [DAT](INFO): DAT read: Rx Time:19:31:13.9791 2025-09-20T19:31:11.924Z,1758396671.924 [DAT](INFO): Rx dataTimestamp_ set to:1758396671.924078 2025-09-20T19:31:11.925Z,1758396671.925 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:12.176Z,1758396672.176 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:12.312Z,1758396672.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:12.314Z,1758396672.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 123.962646 m, bearing: 274.132159 deg, approach rate: 0.316523 m/s, LOS rate: -0.083193 deg/s, cmd heading: 272.030725 deg, new cmd heading: 271.958905 deg. 2025-09-20T19:31:12.315Z,1758396672.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.746578 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:12.436Z,1758396672.436 [DAT](INFO): DAT read: 19:31:13.9791 LVL= 32752, 28657, 32754, 32755, AGC= 69, IDX= 130, 0.37,-2.282, 0.154,-1.310,-1.075, PHS=-1.105, 1.274,-0.279, RAW= 310.0, 1.1, CAL= 308.0, -2.2, ROT= 202.0, 2.2 2025-09-20T19:31:12.437Z,1758396672.437 [DAT](INFO): got valid direction response: 19:31:13.9791 LVL= 32752, 28657, 32754, 32755, AGC= 69, IDX= 130, 0.37,-2.282, 0.154,-1.310,-1.075, PHS=-1.105, 1.274,-0.279, RAW= 310.0, 1.1, CAL= 308.0, -2.2, ROT= 202.0, 2.2 2025-09-20T19:31:12.437Z,1758396672.437 [DAT](INFO): DAT read: Bearing 54.4, -16.3 (Local) 2025-09-20T19:31:12.438Z,1758396672.438 [DAT](INFO): Local bearing/azimuth received: Bearing 54.4, -16.3 (Local) 2025-09-20T19:31:12.439Z,1758396672.439 [DAT](INFO): DAT read: Range 11 to 50 : 124.6 m (Round-trip 166.2 ms) speed -0.3 m/s 2025-09-20T19:31:12.440Z,1758396672.440 [DAT](INFO): DAT read: user:25>Tx time:19:31:15.0587 2025-09-20T19:31:12.441Z,1758396672.441 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:12.442Z,1758396672.442 [DAT](INFO): direction in FSK: [-0.926500,-0.374331,-0.038388] 2025-09-20T19:31:12.442Z,1758396672.442 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:12.454Z,1758396672.454 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:12.454Z,1758396672.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:12.680Z,1758396672.680 [DAT](INFO): DAT read: 2025-09-20T19:31:12.680Z,1758396672.680 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:12.735Z,1758396672.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 124.599998 m, deltaT: 3.780732 s, deltaX: -22.200005 m, approachRate: -5.871880 m/s, rangeRepo size: 3 2025-09-20T19:31:12.736Z,1758396672.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:12.739Z,1758396672.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 124.104317 m, bearing: 274.094272 deg, approach rate: 0.355272 m/s, LOS rate: -0.094901 deg/s, cmd heading: 271.958899 deg, new cmd heading: 271.883212 deg. 2025-09-20T19:31:12.744Z,1758396672.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745257 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:12.932Z,1758396672.932 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:13.101Z,1758396673.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:13.103Z,1758396673.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:13.106Z,1758396673.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 124.240753 m, bearing: 274.057124 deg, approach rate: 0.347641 m/s, LOS rate: -0.094550 deg/s, cmd heading: 271.883220 deg, new cmd heading: 271.809006 deg. 2025-09-20T19:31:13.107Z,1758396673.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743962 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:13.185Z,1758396673.185 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:13.439Z,1758396673.439 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:13.543Z,1758396673.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:13.553Z,1758396673.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 124.389946 m, bearing: 274.014297 deg, approach rate: 0.352495 m/s, LOS rate: -0.101064 deg/s, cmd heading: 271.809017 deg, new cmd heading: 271.723467 deg. 2025-09-20T19:31:13.554Z,1758396673.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.742469 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:13.688Z,1758396673.688 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:13.914Z,1758396673.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:13.917Z,1758396673.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 124.528900 m, bearing: 273.973736 deg, approach rate: 0.358175 m/s, LOS rate: -0.104436 deg/s, cmd heading: 271.723476 deg, new cmd heading: 271.642444 deg. 2025-09-20T19:31:13.918Z,1758396673.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741055 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:13.940Z,1758396673.940 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:14.193Z,1758396674.193 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:14.333Z,1758396674.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:14.335Z,1758396674.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 124.670387 m, bearing: 273.931634 deg, approach rate: 0.338149 m/s, LOS rate: -0.100508 deg/s, cmd heading: 271.642443 deg, new cmd heading: 271.558334 deg. 2025-09-20T19:31:14.336Z,1758396674.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.739587 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:14.446Z,1758396674.446 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:14.696Z,1758396674.696 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:14.749Z,1758396674.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:14.752Z,1758396674.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 124.829628 m, bearing: 273.883614 deg, approach rate: 0.382596 m/s, LOS rate: -0.115227 deg/s, cmd heading: 271.558322 deg, new cmd heading: 271.462405 deg. 2025-09-20T19:31:14.753Z,1758396674.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.737913 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:14.948Z,1758396674.948 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:15.117Z,1758396675.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:15.136Z,1758396675.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:15.138Z,1758396675.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 124.965149 m, bearing: 273.841932 deg, approach rate: 0.350297 m/s, LOS rate: -0.107625 deg/s, cmd heading: 271.462399 deg, new cmd heading: 271.379124 deg. 2025-09-20T19:31:15.143Z,1758396675.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736459 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:15.200Z,1758396675.200 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:15.456Z,1758396675.456 [DAT](INFO): DAT read: Rx Time:19:31:17.6309 2025-09-20T19:31:15.457Z,1758396675.457 [DAT](INFO): Rx dataTimestamp_ set to:1758396675.456218 2025-09-20T19:31:15.458Z,1758396675.458 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:15.582Z,1758396675.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:15.589Z,1758396675.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 125.131050 m, bearing: 273.789422 deg, approach rate: 0.371649 m/s, LOS rate: -0.117475 deg/s, cmd heading: 271.379125 deg, new cmd heading: 271.274246 deg. 2025-09-20T19:31:15.590Z,1758396675.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734629 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:15.705Z,1758396675.705 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:15.962Z,1758396675.962 [DAT](INFO): DAT read: 19:31:17.6309 LVL= 32752, 29169, 31122, 32755, AGC= 68, IDX= 437,-0.43, 1.581,-2.350, 2.716, 2.910, PHS=-1.227, 1.068,-0.238, RAW= 304.6, 4.0, CAL= 302.1, 0.8, ROT= 207.9, -0.8 2025-09-20T19:31:15.963Z,1758396675.963 [DAT](INFO): got valid direction response: 19:31:17.6309 LVL= 32752, 29169, 31122, 32755, AGC= 68, IDX= 437,-0.43, 1.581,-2.350, 2.716, 2.910, PHS=-1.227, 1.068,-0.238, RAW= 304.6, 4.0, CAL= 302.1, 0.8, ROT= 207.9, -0.8 2025-09-20T19:31:15.964Z,1758396675.964 [DAT](INFO): DAT read: Bearing 47.0, -24.9 (Local) 2025-09-20T19:31:15.964Z,1758396675.964 [DAT](INFO): Local bearing/azimuth received: Bearing 47.0, -24.9 (Local) 2025-09-20T19:31:15.966Z,1758396675.966 [DAT](INFO): DAT read: Range 11 to 50 : 126.0 m (Round-trip 168.0 ms) speed -0.4 m/s 2025-09-20T19:31:15.969Z,1758396675.969 [DAT](INFO): DAT read: user:26>Tx time:19:31:18.7087 2025-09-20T19:31:15.985Z,1758396675.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.22 m. 2025-09-20T19:31:15.987Z,1758396675.987 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:15.988Z,1758396675.988 [DAT](INFO): direction in FSK: [-0.883680,-0.467884,0.013962] 2025-09-20T19:31:15.988Z,1758396675.988 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:15.995Z,1758396675.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.217377 m, nav range: 125.278412 m, bearing: 273.741811 deg, approach rate: 0.366053 m/s, LOS rate: -0.118129 deg/s, cmd heading: 271.274241 deg, new cmd heading: 271.179130 deg. 2025-09-20T19:31:15.996Z,1758396675.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732969 target range: 146.217377 and range: 146.80 m. 2025-09-20T19:31:15.000Z,1758396676.000 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:16.000Z,1758396676.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:16.208Z,1758396676.208 [DAT](INFO): DAT read: 2025-09-20T19:31:16.208Z,1758396676.208 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:16.337Z,1758396676.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.000000 m, deltaT: 7.308068 s, deltaX: -20.800003 m, approachRate: -2.846170 m/s, rangeRepo size: 4 2025-09-20T19:31:16.339Z,1758396676.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.511627 m, bearing: 274.579924 deg, lat: 36.779425 deg, lon: -121.859590 deg, deltaT: 7.308068 s, deltaX: -20.705750 m, approachRate: -2.833273 m/s, posRepo size: 4 2025-09-20T19:31:16.340Z,1758396676.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:16.342Z,1758396676.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 125.405426 m, bearing: 273.610644 deg, approach rate: 0.000000 m/s, LOS rate: -0.118129 deg/s, cmd heading: 271.179137 deg, new cmd heading: 271.096086 deg. 2025-09-20T19:31:16.363Z,1758396676.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731519 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:16.464Z,1758396676.464 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:16.712Z,1758396676.712 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:16.789Z,1758396676.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:16.793Z,1758396676.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 125.570549 m, bearing: 273.554891 deg, approach rate: 0.364925 m/s, LOS rate: -0.123054 deg/s, cmd heading: 271.096082 deg, new cmd heading: 270.984722 deg. 2025-09-20T19:31:16.795Z,1758396676.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729576 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:16.964Z,1758396676.964 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:17.149Z,1758396677.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:17.152Z,1758396677.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:17.155Z,1758396677.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 125.703468 m, bearing: 273.509023 deg, approach rate: 0.366637 m/s, LOS rate: -0.126387 deg/s, cmd heading: 270.984723 deg, new cmd heading: 270.893083 deg. 2025-09-20T19:31:17.156Z,1758396677.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727976 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:17.216Z,1758396677.216 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:17.470Z,1758396677.470 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:17.597Z,1758396677.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:17.600Z,1758396677.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 125.868912 m, bearing: 273.450694 deg, approach rate: 0.370894 m/s, LOS rate: -0.130589 deg/s, cmd heading: 270.893089 deg, new cmd heading: 270.776586 deg. 2025-09-20T19:31:17.601Z,1758396677.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725943 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:17.720Z,1758396677.720 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:17.963Z,1758396677.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:17.966Z,1758396677.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 125.997414 m, bearing: 273.404307 deg, approach rate: 0.355171 m/s, LOS rate: -0.128081 deg/s, cmd heading: 270.776593 deg, new cmd heading: 270.683913 deg. 2025-09-20T19:31:17.975Z,1758396677.975 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:17.967Z,1758396677.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724326 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:18.224Z,1758396678.224 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:18.359Z,1758396678.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:18.362Z,1758396678.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 126.147102 m, bearing: 273.348954 deg, approach rate: 0.374451 m/s, LOS rate: -0.138303 deg/s, cmd heading: 270.683921 deg, new cmd heading: 270.573347 deg. 2025-09-20T19:31:18.363Z,1758396678.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722396 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:18.480Z,1758396678.480 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:18.728Z,1758396678.728 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:18.823Z,1758396678.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:18.826Z,1758396678.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 126.302803 m, bearing: 273.288524 deg, approach rate: 0.338407 m/s, LOS rate: -0.131179 deg/s, cmd heading: 270.573354 deg, new cmd heading: 270.452644 deg. 2025-09-20T19:31:18.827Z,1758396678.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720289 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:18.980Z,1758396678.980 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:19.179Z,1758396679.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:19.181Z,1758396679.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:19.184Z,1758396679.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 126.434433 m, bearing: 273.236076 deg, approach rate: 0.363512 m/s, LOS rate: -0.144691 deg/s, cmd heading: 270.452651 deg, new cmd heading: 270.347864 deg. 2025-09-20T19:31:19.185Z,1758396679.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718461 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:19.233Z,1758396679.233 [DAT](INFO): DAT read: Rx Time:19:31:21.2829 2025-09-20T19:31:19.234Z,1758396679.234 [DAT](INFO): Rx dataTimestamp_ set to:1758396679.233001 2025-09-20T19:31:19.234Z,1758396679.234 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:19.486Z,1758396679.486 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:19.628Z,1758396679.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.51 m. 2025-09-20T19:31:19.631Z,1758396679.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.511627 m, nav range: 126.596176 m, bearing: 273.171264 deg, approach rate: 0.361477 m/s, LOS rate: -0.144663 deg/s, cmd heading: 270.347876 deg, new cmd heading: 270.218417 deg. 2025-09-20T19:31:19.632Z,1758396679.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716201 target range: 125.511627 and range: 126.00 m. 2025-09-20T19:31:19.743Z,1758396679.743 [DAT](INFO): DAT read: 19:31:21.2829 LVL= 32752, 27745, 29426, 32755, AGC= 65, IDX= 441,-0.30,-2.524,-0.169,-1.329,-1.183, PHS=-1.239, 1.059,-0.190, RAW= 302.9, 3.8, CAL= 300.5, -0.0, ROT= 209.5, 0.0 2025-09-20T19:31:19.744Z,1758396679.744 [DAT](INFO): got valid direction response: 19:31:21.2829 LVL= 32752, 27745, 29426, 32755, AGC= 65, IDX= 441,-0.30,-2.524,-0.169,-1.329,-1.183, PHS=-1.239, 1.059,-0.190, RAW= 302.9, 3.8, CAL= 300.5, -0.0, ROT= 209.5, 0.0 2025-09-20T19:31:19.745Z,1758396679.745 [DAT](INFO): DAT read: Bearing 41.2, -29.1 (Local) 2025-09-20T19:31:19.745Z,1758396679.745 [DAT](INFO): Local bearing/azimuth received: Bearing 41.2, -29.1 (Local) 2025-09-20T19:31:19.751Z,1758396679.751 [DAT](INFO): DAT read: Range 11 to 50 : 127.5 m (Round-trip 170.0 ms) speed -0.4 m/s 2025-09-20T19:31:19.754Z,1758396679.754 [DAT](INFO): DAT read: user:27>Tx time:19:31:22.3587 2025-09-20T19:31:19.760Z,1758396679.760 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:19.761Z,1758396679.761 [DAT](INFO): direction in FSK: [-0.870356,-0.492424,-0.000000] 2025-09-20T19:31:19.762Z,1758396679.762 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:19.767Z,1758396679.767 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:19.768Z,1758396679.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:19.988Z,1758396679.988 [DAT](INFO): DAT read: 2025-09-20T19:31:19.988Z,1758396679.988 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:20.015Z,1758396680.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.780383 s, deltaX: 1.500000 m, approachRate: 0.396785 m/s, rangeRepo size: 4 2025-09-20T19:31:20.018Z,1758396680.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.005348 m, bearing: 268.328900 deg, lat: 36.779425 deg, lon: -121.859595 deg, deltaT: 3.780383 s, deltaX: 1.493721 m, approachRate: 0.395124 m/s, posRepo size: 4 2025-09-20T19:31:20.020Z,1758396680.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:20.048Z,1758396680.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 127.100235 m, bearing: 273.107520 deg, approach rate: 0.000000 m/s, LOS rate: -0.144663 deg/s, cmd heading: 270.218430 deg, new cmd heading: 270.107398 deg. 2025-09-20T19:31:20.049Z,1758396680.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714263 target range: 127.005348 and range: 127.50 m. 2025-09-20T19:31:20.240Z,1758396680.240 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:20.412Z,1758396680.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:20.414Z,1758396680.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 127.241768 m, bearing: 273.047698 deg, approach rate: 0.354012 m/s, LOS rate: -0.149465 deg/s, cmd heading: 270.107399 deg, new cmd heading: 269.987887 deg. 2025-09-20T19:31:20.416Z,1758396680.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712178 target range: 127.005348 and range: 127.50 m. 2025-09-20T19:31:20.495Z,1758396680.495 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:20.744Z,1758396680.744 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:20.884Z,1758396680.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:20.886Z,1758396680.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 127.406342 m, bearing: 272.977819 deg, approach rate: 0.348706 m/s, LOS rate: -0.147871 deg/s, cmd heading: 269.987898 deg, new cmd heading: 269.848321 deg. 2025-09-20T19:31:20.888Z,1758396680.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709742 target range: 127.005348 and range: 127.50 m. 2025-09-20T19:31:20.997Z,1758396680.997 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:21.242Z,1758396681.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:21.244Z,1758396681.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:21.248Z,1758396681.248 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:21.252Z,1758396681.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 127.532066 m, bearing: 272.924612 deg, approach rate: 0.348889 m/s, LOS rate: -0.147506 deg/s, cmd heading: 269.848316 deg, new cmd heading: 269.742006 deg. 2025-09-20T19:31:21.253Z,1758396681.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707886 target range: 127.005348 and range: 127.50 m. 2025-09-20T19:31:21.500Z,1758396681.500 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:21.645Z,1758396681.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:21.648Z,1758396681.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 127.671120 m, bearing: 272.862034 deg, approach rate: 0.347159 m/s, LOS rate: -0.156061 deg/s, cmd heading: 269.742011 deg, new cmd heading: 269.616992 deg. 2025-09-20T19:31:21.649Z,1758396681.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705704 target range: 127.005348 and range: 127.50 m. 2025-09-20T19:31:21.752Z,1758396681.752 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:22.005Z,1758396682.005 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:22.059Z,1758396682.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:22.061Z,1758396682.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 127.804741 m, bearing: 272.800125 deg, approach rate: 0.322980 m/s, LOS rate: -0.149486 deg/s, cmd heading: 269.616991 deg, new cmd heading: 269.493302 deg. 2025-09-20T19:31:22.062Z,1758396682.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703546 target range: 127.005348 and range: 127.50 m. 2025-09-20T19:31:22.259Z,1758396682.259 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:22.431Z,1758396682.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:22.434Z,1758396682.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 127.937325 m, bearing: 272.736835 deg, approach rate: 0.356186 m/s, LOS rate: -0.169852 deg/s, cmd heading: 269.493310 deg, new cmd heading: 269.366862 deg. 2025-09-20T19:31:22.434Z,1758396682.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701339 target range: 127.005348 and range: 127.50 m. 2025-09-20T19:31:22.518Z,1758396682.518 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:22.764Z,1758396682.764 [DAT](INFO): DAT read: Rx Time:19:31:24.9348 2025-09-20T19:31:22.765Z,1758396682.765 [DAT](INFO): Rx dataTimestamp_ set to:1758396682.764288 2025-09-20T19:31:22.765Z,1758396682.765 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:22.872Z,1758396682.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:22.875Z,1758396682.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 128.088623 m, bearing: 272.663845 deg, approach rate: 0.342833 m/s, LOS rate: -0.165196 deg/s, cmd heading: 269.366869 deg, new cmd heading: 269.221062 deg. 2025-09-20T19:31:22.876Z,1758396682.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698794 target range: 127.005348 and range: 127.50 m. 2025-09-20T19:31:23.017Z,1758396683.017 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:23.274Z,1758396683.274 [DAT](INFO): DAT read: 19:31:24.9348 LVL= 32752, 21345, 26866, 31555, AGC= 63, IDX= 461,-0.20,-2.611,-0.181,-1.436,-1.132, PHS=-1.378, 0.996,-0.349, RAW= 304.4, 7.1, CAL= 302.0, 6.8, ROT= 208.0, -6.8 2025-09-20T19:31:23.279Z,1758396683.279 [DAT](INFO): got valid direction response: 19:31:24.9348 LVL= 32752, 21345, 26866, 31555, AGC= 63, IDX= 461,-0.20,-2.611,-0.181,-1.436,-1.132, PHS=-1.378, 0.996,-0.349, RAW= 304.4, 7.1, CAL= 302.0, 6.8, ROT= 208.0, -6.8 2025-09-20T19:31:23.280Z,1758396683.280 [DAT](INFO): DAT read: Bearing 25.2, -30.2 (Local) 2025-09-20T19:31:23.280Z,1758396683.280 [DAT](INFO): Local bearing/azimuth received: Bearing 25.2, -30.2 (Local) 2025-09-20T19:31:23.282Z,1758396683.282 [DAT](INFO): DAT read: Range 11 to 50 : 128.9 m (Round-trip 171.9 ms) speed -0.6 m/s 2025-09-20T19:31:23.283Z,1758396683.283 [DAT](INFO): DAT read: user:28>Tx time:19:31:26.0087 2025-09-20T19:31:23.283Z,1758396683.283 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:23.284Z,1758396683.284 [DAT](INFO): direction in FSK: [-0.876737,-0.466169,0.118404] 2025-09-20T19:31:23.285Z,1758396683.285 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:23.288Z,1758396683.288 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:23.289Z,1758396683.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:23.307Z,1758396683.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:23.310Z,1758396683.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.899994 m, deltaT: 3.531610 s, deltaX: 1.399994 m, approachRate: 0.396418 m/s, rangeRepo size: 4 2025-09-20T19:31:23.310Z,1758396683.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:23.317Z,1758396683.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 128.221054 m, bearing: 272.598084 deg, approach rate: 0.303070 m/s, LOS rate: -0.150340 deg/s, cmd heading: 269.221059 deg, new cmd heading: 269.089672 deg. 2025-09-20T19:31:23.318Z,1758396683.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696501 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:23.520Z,1758396683.520 [DAT](INFO): DAT read: 2025-09-20T19:31:23.521Z,1758396683.521 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:23.713Z,1758396683.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:23.716Z,1758396683.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 128.375885 m, bearing: 272.524071 deg, approach rate: 0.383507 m/s, LOS rate: -0.183105 deg/s, cmd heading: 269.089673 deg, new cmd heading: 268.941826 deg. 2025-09-20T19:31:23.717Z,1758396683.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693920 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:23.772Z,1758396683.772 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:24.025Z,1758396684.025 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:24.076Z,1758396684.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:24.078Z,1758396684.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 128.499588 m, bearing: 272.461109 deg, approach rate: 0.340735 m/s, LOS rate: -0.173259 deg/s, cmd heading: 268.941813 deg, new cmd heading: 268.816011 deg. 2025-09-20T19:31:24.080Z,1758396684.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691724 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:24.276Z,1758396684.276 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:24.491Z,1758396684.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:24.494Z,1758396684.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 128.631500 m, bearing: 272.391885 deg, approach rate: 0.317721 m/s, LOS rate: -0.166561 deg/s, cmd heading: 268.816001 deg, new cmd heading: 268.677695 deg. 2025-09-20T19:31:24.495Z,1758396684.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689311 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:24.528Z,1758396684.528 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:24.783Z,1758396684.783 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:24.904Z,1758396684.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:24.907Z,1758396684.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 128.776245 m, bearing: 272.314170 deg, approach rate: 0.350253 m/s, LOS rate: -0.187843 deg/s, cmd heading: 268.677703 deg, new cmd heading: 268.522448 deg. 2025-09-20T19:31:24.908Z,1758396684.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686601 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:25.032Z,1758396685.032 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:25.284Z,1758396685.284 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:25.316Z,1758396685.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:25.318Z,1758396685.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:25.321Z,1758396685.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 128.916122 m, bearing: 272.239358 deg, approach rate: 0.337846 m/s, LOS rate: -0.180496 deg/s, cmd heading: 268.522440 deg, new cmd heading: 268.372980 deg. 2025-09-20T19:31:25.322Z,1758396685.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683992 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:25.536Z,1758396685.536 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:25.706Z,1758396685.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:25.709Z,1758396685.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 129.042007 m, bearing: 272.165603 deg, approach rate: 0.324305 m/s, LOS rate: -0.189822 deg/s, cmd heading: 268.372968 deg, new cmd heading: 268.225602 deg. 2025-09-20T19:31:25.710Z,1758396685.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681420 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:25.789Z,1758396685.789 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:26.040Z,1758396686.040 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:26.090Z,1758396686.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:26.093Z,1758396686.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 129.163971 m, bearing: 272.091940 deg, approach rate: 0.317573 m/s, LOS rate: -0.191626 deg/s, cmd heading: 268.225599 deg, new cmd heading: 268.078413 deg. 2025-09-20T19:31:26.094Z,1758396686.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678851 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:26.293Z,1758396686.293 [DAT](INFO): DAT read: Rx Time:19:31:28.5867 2025-09-20T19:31:26.293Z,1758396686.293 [DAT](INFO): Rx dataTimestamp_ set to:1758396686.292732 2025-09-20T19:31:26.293Z,1758396686.293 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:26.501Z,1758396686.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:26.506Z,1758396686.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 129.290344 m, bearing: 272.013232 deg, approach rate: 0.308537 m/s, LOS rate: -0.191976 deg/s, cmd heading: 268.078423 deg, new cmd heading: 267.921160 deg. 2025-09-20T19:31:26.508Z,1758396686.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676106 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:26.544Z,1758396686.544 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:26.796Z,1758396686.796 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:26.941Z,1758396686.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.01 m. 2025-09-20T19:31:26.944Z,1758396686.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.005348 m, nav range: 129.419449 m, bearing: 271.927650 deg, approach rate: 0.292874 m/s, LOS rate: -0.193949 deg/s, cmd heading: 267.921164 deg, new cmd heading: 267.750172 deg. 2025-09-20T19:31:26.945Z,1758396686.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673122 target range: 127.005348 and range: 128.90 m. 2025-09-20T19:31:27.058Z,1758396687.058 [DAT](INFO): DAT read: 19:31:28.5867 LVL= 28656, 23153, 25234, 32163, AGC= 59, IDX= 448,-0.07, 0.123, 2.461, 1.493, 1.708, PHS=-1.482, 0.799,-0.258, RAW= 297.6, 9.6, CAL= 295.1, 11.7, ROT= 214.9, -11.7 2025-09-20T19:31:27.059Z,1758396687.059 [DAT](INFO): got valid direction response: 19:31:28.5867 LVL= 28656, 23153, 25234, 32163, AGC= 59, IDX= 448,-0.07, 0.123, 2.461, 1.493, 1.708, PHS=-1.482, 0.799,-0.258, RAW= 297.6, 9.6, CAL= 295.1, 11.7, ROT= 214.9, -11.7 2025-09-20T19:31:27.060Z,1758396687.060 [DAT](INFO): DAT read: Bearing 10.5, -38.9 (Local) 2025-09-20T19:31:27.060Z,1758396687.060 [DAT](INFO): Local bearing/azimuth received: Bearing 10.5, -38.9 (Local) 2025-09-20T19:31:27.062Z,1758396687.062 [DAT](INFO): DAT read: Range 11 to 50 : 130.3 m (Round-trip 173.8 ms) speed -0.3 m/s 2025-09-20T19:31:27.063Z,1758396687.063 [DAT](INFO): DAT read: user:29>Tx time:19:31:29.6587 2025-09-20T19:31:27.063Z,1758396687.063 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:27.064Z,1758396687.064 [DAT](INFO): direction in FSK: [-0.803112,-0.560258,0.202787] 2025-09-20T19:31:27.065Z,1758396687.065 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:27.068Z,1758396687.068 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:27.068Z,1758396687.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:27.300Z,1758396687.300 [DAT](INFO): DAT read: 2025-09-20T19:31:27.300Z,1758396687.300 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:27.359Z,1758396687.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.300003 m, deltaT: 3.780490 s, deltaX: 1.400009 m, approachRate: 0.370325 m/s, rangeRepo size: 4 2025-09-20T19:31:27.361Z,1758396687.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.783279 m, bearing: 255.742240 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 7.312100 s, deltaX: 2.777931 m, approachRate: 0.379909 m/s, posRepo size: 4 2025-09-20T19:31:27.362Z,1758396687.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m. 2025-09-20T19:31:27.369Z,1758396687.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.783279 m, nav range: 128.892166 m, bearing: 267.149743 deg, approach rate: 0.000000 m/s, LOS rate: -0.193949 deg/s, cmd heading: 267.750164 deg, new cmd heading: 267.589744 deg. 2025-09-20T19:31:27.370Z,1758396687.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670322 target range: 129.783279 and range: 130.30 m. 2025-09-20T19:31:27.552Z,1758396687.552 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:27.777Z,1758396687.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:27.780Z,1758396687.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m. 2025-09-20T19:31:27.785Z,1758396687.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.783279 m, nav range: 129.030014 m, bearing: 267.066793 deg, approach rate: 0.324011 m/s, LOS rate: -0.194767 deg/s, cmd heading: 267.589736 deg, new cmd heading: 267.424012 deg. 2025-09-20T19:31:27.786Z,1758396687.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667429 target range: 129.783279 and range: 130.30 m. 2025-09-20T19:31:27.804Z,1758396687.804 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:28.056Z,1758396688.056 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:28.172Z,1758396688.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m. 2025-09-20T19:31:28.174Z,1758396688.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.783279 m, nav range: 129.148590 m, bearing: 266.990509 deg, approach rate: 0.302715 m/s, LOS rate: -0.194566 deg/s, cmd heading: 267.424008 deg, new cmd heading: 267.271583 deg. 2025-09-20T19:31:28.192Z,1758396688.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664769 target range: 129.783279 and range: 130.30 m. 2025-09-20T19:31:28.308Z,1758396688.308 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:28.560Z,1758396688.560 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:28.580Z,1758396688.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m. 2025-09-20T19:31:28.587Z,1758396688.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.783279 m, nav range: 129.268387 m, bearing: 266.910944 deg, approach rate: 0.293417 m/s, LOS rate: -0.194699 deg/s, cmd heading: 267.271586 deg, new cmd heading: 267.112603 deg. 2025-09-20T19:31:28.588Z,1758396688.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661994 target range: 129.783279 and range: 130.30 m. 2025-09-20T19:31:28.812Z,1758396688.812 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:29.038Z,1758396689.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m. 2025-09-20T19:31:29.045Z,1758396689.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.783279 m, nav range: 129.392044 m, bearing: 266.821763 deg, approach rate: 0.270114 m/s, LOS rate: -0.194618 deg/s, cmd heading: 267.112607 deg, new cmd heading: 266.934416 deg. 2025-09-20T19:31:29.047Z,1758396689.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658885 target range: 129.783279 and range: 130.30 m. 2025-09-20T19:31:29.064Z,1758396689.064 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:29.316Z,1758396689.316 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:29.428Z,1758396689.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m. 2025-09-20T19:31:29.431Z,1758396689.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.783279 m, nav range: 129.500214 m, bearing: 266.744072 deg, approach rate: 0.276862 m/s, LOS rate: -0.198684 deg/s, cmd heading: 266.934421 deg, new cmd heading: 266.779169 deg. 2025-09-20T19:31:29.432Z,1758396689.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656175 target range: 129.783279 and range: 130.30 m. 2025-09-20T19:31:29.568Z,1758396689.568 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:29.820Z,1758396689.820 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:29.864Z,1758396689.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:29.866Z,1758396689.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m. 2025-09-20T19:31:29.873Z,1758396689.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.783279 m, nav range: 129.612228 m, bearing: 266.657681 deg, approach rate: 0.256044 m/s, LOS rate: -0.197303 deg/s, cmd heading: 266.779157 deg, new cmd heading: 266.606524 deg. 2025-09-20T19:31:29.874Z,1758396689.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653162 target range: 129.783279 and range: 130.30 m. 2025-09-20T19:31:30.072Z,1758396690.072 [DAT](INFO): DAT read: Rx Time:19:31:32.2381 2025-09-20T19:31:30.072Z,1758396690.072 [DAT](INFO): Rx dataTimestamp_ set to:1758396690.072181 2025-09-20T19:31:30.073Z,1758396690.073 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:30.246Z,1758396690.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m. 2025-09-20T19:31:30.249Z,1758396690.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.783279 m, nav range: 129.719925 m, bearing: 266.574976 deg, approach rate: 0.283048 m/s, LOS rate: -0.217185 deg/s, cmd heading: 266.606517 deg, new cmd heading: 266.441244 deg. 2025-09-20T19:31:30.250Z,1758396690.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650277 target range: 129.783279 and range: 130.30 m. 2025-09-20T19:31:30.324Z,1758396690.324 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:30.588Z,1758396690.588 [DAT](INFO): DAT read: 19:31:32.2381 LVL= 32752, 24033, 24514, 32755, AGC= 58, IDX= 447,-0.09,-2.844,-0.760,-1.204,-1.222, PHS=-1.521, 0.507,-0.026, RAW= 284.7, 11.4, CAL= 282.7, 16.3, ROT= 227.3, -16.3 2025-09-20T19:31:30.589Z,1758396690.589 [DAT](INFO): got valid direction response: 19:31:32.2381 LVL= 32752, 24033, 24514, 32755, AGC= 58, IDX= 447,-0.09,-2.844,-0.760,-1.204,-1.222, PHS=-1.521, 0.507,-0.026, RAW= 284.7, 11.4, CAL= 282.7, 16.3, ROT= 227.3, -16.3 2025-09-20T19:31:30.591Z,1758396690.591 [DAT](INFO): DAT read: Bearing 351.9, -51.7 (Local) 2025-09-20T19:31:30.592Z,1758396690.592 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, -51.7 (Local) 2025-09-20T19:31:30.594Z,1758396690.594 [DAT](INFO): DAT read: Range 11 to 50 : 131.4 m (Round-trip 175.2 ms) speed -0.3 m/s 2025-09-20T19:31:30.595Z,1758396690.595 [DAT](INFO): DAT read: user:30>Tx time:19:31:33.3087 2025-09-20T19:31:30.596Z,1758396690.596 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:30.597Z,1758396690.597 [DAT](INFO): direction in FSK: [-0.650901,-0.705375,0.280667] 2025-09-20T19:31:30.597Z,1758396690.597 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:30.600Z,1758396690.600 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:30.600Z,1758396690.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:30.828Z,1758396690.828 [DAT](INFO): DAT read: 2025-09-20T19:31:30.828Z,1758396690.828 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:30.860Z,1758396690.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.399994 m, deltaT: 3.529645 s, deltaX: 1.099991 m, approachRate: 0.311643 m/s, rangeRepo size: 4 2025-09-20T19:31:30.862Z,1758396690.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.878433 m, bearing: 259.486381 deg, lat: 36.779194 deg, lon: -121.859561 deg, deltaT: 3.529645 s, deltaX: 1.095154 m, approachRate: 0.310273 m/s, posRepo size: 4 2025-09-20T19:31:30.862Z,1758396690.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:30.865Z,1758396690.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 129.411499 m, bearing: 259.728434 deg, approach rate: 0.000000 m/s, LOS rate: -0.217185 deg/s, cmd heading: 266.441254 deg, new cmd heading: 266.178922 deg. 2025-09-20T19:31:30.866Z,1758396690.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645699 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:31.080Z,1758396691.080 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:31.230Z,1758396691.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:31.248Z,1758396691.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 129.527756 m, bearing: 259.648446 deg, approach rate: 0.306520 m/s, LOS rate: -0.210706 deg/s, cmd heading: 266.178920 deg, new cmd heading: 266.019087 deg. 2025-09-20T19:31:31.249Z,1758396691.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642909 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:31.332Z,1758396691.332 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:31.584Z,1758396691.584 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:31.635Z,1758396691.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:31.637Z,1758396691.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 129.640701 m, bearing: 259.567979 deg, approach rate: 0.278855 m/s, LOS rate: -0.198494 deg/s, cmd heading: 266.019093 deg, new cmd heading: 265.858300 deg. 2025-09-20T19:31:31.638Z,1758396691.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640103 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:31.836Z,1758396691.836 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:32.064Z,1758396692.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:32.066Z,1758396692.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:32.069Z,1758396692.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 129.762360 m, bearing: 259.479068 deg, approach rate: 0.282080 m/s, LOS rate: -0.205957 deg/s, cmd heading: 265.858311 deg, new cmd heading: 265.680657 deg. 2025-09-20T19:31:32.070Z,1758396692.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637002 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:32.088Z,1758396692.088 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:32.340Z,1758396692.340 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:32.447Z,1758396692.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:32.450Z,1758396692.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 129.867218 m, bearing: 259.399706 deg, approach rate: 0.275334 m/s, LOS rate: -0.208218 deg/s, cmd heading: 265.680644 deg, new cmd heading: 265.522048 deg. 2025-09-20T19:31:32.450Z,1758396692.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634234 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:32.592Z,1758396692.592 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:32.852Z,1758396692.852 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:32.876Z,1758396692.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:32.880Z,1758396692.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 129.988113 m, bearing: 259.310605 deg, approach rate: 0.281389 m/s, LOS rate: -0.207193 deg/s, cmd heading: 265.522047 deg, new cmd heading: 265.344011 deg. 2025-09-20T19:31:32.881Z,1758396692.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631127 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:33.104Z,1758396693.104 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:33.266Z,1758396693.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:33.269Z,1758396693.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 130.098221 m, bearing: 259.229799 deg, approach rate: 0.282248 m/s, LOS rate: -0.206962 deg/s, cmd heading: 265.344025 deg, new cmd heading: 265.182550 deg. 2025-09-20T19:31:33.270Z,1758396693.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628309 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:33.358Z,1758396693.358 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:33.608Z,1758396693.608 [DAT](INFO): DAT read: Rx Time:19:31:35.8895 2025-09-20T19:31:33.608Z,1758396693.608 [DAT](INFO): Rx dataTimestamp_ set to:1758396693.608164 2025-09-20T19:31:33.609Z,1758396693.609 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:33.677Z,1758396693.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:33.684Z,1758396693.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 130.205048 m, bearing: 259.145284 deg, approach rate: 0.260124 m/s, LOS rate: -0.205625 deg/s, cmd heading: 265.182559 deg, new cmd heading: 265.013669 deg. 2025-09-20T19:31:33.685Z,1758396693.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625361 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:33.861Z,1758396693.861 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:33.887Z,1758396693.887 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:31:34.112Z,1758396694.112 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:34.122Z,1758396694.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:34.146Z,1758396694.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.88 m. 2025-09-20T19:31:34.175Z,1758396694.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.878433 m, nav range: 130.321671 m, bearing: 259.051296 deg, approach rate: 0.252530 m/s, LOS rate: -0.203336 deg/s, cmd heading: 265.013662 deg, new cmd heading: 264.825854 deg. 2025-09-20T19:31:34.184Z,1758396694.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622083 target range: 130.878433 and range: 131.40 m. 2025-09-20T19:31:34.369Z,1758396694.369 [DAT](INFO): DAT read: 19:31:35.8895 LVL= 29008, 24977, 26578, 32755, AGC= 59, IDX= 445,-0.33,-2.345,-0.453,-0.120,-0.592, PHS=-1.651, 0.184, 0.428, RAW= 263.8, 10.6, CAL= 263.5, 11.7, ROT= 246.5, -11.7 2025-09-20T19:31:34.371Z,1758396694.371 [DAT](INFO): got valid direction response: 19:31:35.8895 LVL= 29008, 24977, 26578, 32755, AGC= 59, IDX= 445,-0.33,-2.345,-0.453,-0.120,-0.592, PHS=-1.651, 0.184, 0.428, RAW= 263.8, 10.6, CAL= 263.5, 11.7, ROT= 246.5, -11.7 2025-09-20T19:31:34.372Z,1758396694.372 [DAT](INFO): DAT read: Bearing 339.5, -72.4 (Local) 2025-09-20T19:31:34.372Z,1758396694.372 [DAT](INFO): Local bearing/azimuth received: Bearing 339.5, -72.4 (Local) 2025-09-20T19:31:34.373Z,1758396694.373 [DAT](INFO): DAT read: Range 11 to 50 : 132.4 m (Round-trip 176.6 ms) speed -0.3 m/s 2025-09-20T19:31:34.374Z,1758396694.374 [DAT](INFO): DAT read: user:31>Tx time:19:31:36.9587 2025-09-20T19:31:34.375Z,1758396694.375 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:34.376Z,1758396694.376 [DAT](INFO): direction in FSK: [-0.390464,-0.898006,0.202787] 2025-09-20T19:31:34.376Z,1758396694.376 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:34.383Z,1758396694.383 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:34.384Z,1758396694.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:34.561Z,1758396694.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.399994 m, deltaT: 3.785676 s, deltaX: 1.000000 m, approachRate: 0.264154 m/s, rangeRepo size: 4 2025-09-20T19:31:34.563Z,1758396694.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.875809 m, bearing: 268.920154 deg, lat: 36.779194 deg, lon: -121.859561 deg, deltaT: 3.785676 s, deltaX: 0.997375 m, approachRate: 0.263460 m/s, posRepo size: 4 2025-09-20T19:31:34.564Z,1758396694.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m. 2025-09-20T19:31:34.566Z,1758396694.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.875809 m, nav range: 130.437286 m, bearing: 258.954680 deg, approach rate: 0.000000 m/s, LOS rate: -0.203336 deg/s, cmd heading: 264.825859 deg, new cmd heading: 264.654619 deg. 2025-09-20T19:31:34.583Z,1758396694.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619094 target range: 131.875809 and range: 132.40 m. 2025-09-20T19:31:34.616Z,1758396694.616 [DAT](INFO): DAT read: 2025-09-20T19:31:34.617Z,1758396694.617 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:34.868Z,1758396694.868 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:34.898Z,1758396694.898 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:31:34.969Z,1758396694.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m. 2025-09-20T19:31:34.972Z,1758396694.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.875809 m, nav range: 130.547852 m, bearing: 258.864799 deg, approach rate: 0.270462 m/s, LOS rate: -0.219681 deg/s, cmd heading: 264.654613 deg, new cmd heading: 264.475002 deg. 2025-09-20T19:31:34.973Z,1758396694.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615960 target range: 131.875809 and range: 132.40 m. 2025-09-20T19:31:35.120Z,1758396695.120 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:35.358Z,1758396695.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m. 2025-09-20T19:31:35.365Z,1758396695.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.875809 m, nav range: 130.648956 m, bearing: 258.779538 deg, approach rate: 0.259478 m/s, LOS rate: -0.218646 deg/s, cmd heading: 264.475006 deg, new cmd heading: 264.304617 deg. 2025-09-20T19:31:35.366Z,1758396695.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612986 target range: 131.875809 and range: 132.40 m. 2025-09-20T19:31:35.372Z,1758396695.372 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:35.624Z,1758396695.624 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:35.876Z,1758396695.876 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:35.876Z,1758396695.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m. 2025-09-20T19:31:35.883Z,1758396695.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.875809 m, nav range: 130.770218 m, bearing: 258.673629 deg, approach rate: 0.244365 m/s, LOS rate: -0.213229 deg/s, cmd heading: 264.304606 deg, new cmd heading: 264.092986 deg. 2025-09-20T19:31:35.884Z,1758396695.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609292 target range: 131.875809 and range: 132.40 m. 2025-09-20T19:31:36.128Z,1758396696.128 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:36.270Z,1758396696.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:36.288Z,1758396696.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m. 2025-09-20T19:31:36.293Z,1758396696.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.875809 m, nav range: 130.868912 m, bearing: 258.584025 deg, approach rate: 0.227750 m/s, LOS rate: -0.206618 deg/s, cmd heading: 264.092980 deg, new cmd heading: 263.913908 deg. 2025-09-20T19:31:36.294Z,1758396696.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606167 target range: 131.875809 and range: 132.40 m. 2025-09-20T19:31:36.380Z,1758396696.380 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:36.632Z,1758396696.632 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:36.665Z,1758396696.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m. 2025-09-20T19:31:36.668Z,1758396696.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.875809 m, nav range: 130.958862 m, bearing: 258.498896 deg, approach rate: 0.238352 m/s, LOS rate: -0.225421 deg/s, cmd heading: 263.913920 deg, new cmd heading: 263.743779 deg. 2025-09-20T19:31:36.669Z,1758396696.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603197 target range: 131.875809 and range: 132.40 m. 2025-09-20T19:31:36.884Z,1758396696.884 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:37.088Z,1758396697.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m. 2025-09-20T19:31:37.091Z,1758396697.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.875809 m, nav range: 131.054550 m, bearing: 258.404537 deg, approach rate: 0.226294 m/s, LOS rate: -0.222988 deg/s, cmd heading: 263.743766 deg, new cmd heading: 263.555186 deg. 2025-09-20T19:31:37.092Z,1758396697.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599906 target range: 131.875809 and range: 132.40 m. 2025-09-20T19:31:37.136Z,1758396697.136 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:37.388Z,1758396697.388 [DAT](INFO): DAT read: Rx Time:19:31:39.5406 2025-09-20T19:31:37.388Z,1758396697.388 [DAT](INFO): Rx dataTimestamp_ set to:1758396697.388128 2025-09-20T19:31:37.389Z,1758396697.389 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:37.598Z,1758396697.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m. 2025-09-20T19:31:37.617Z,1758396697.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.875809 m, nav range: 131.164673 m, bearing: 258.291326 deg, approach rate: 0.216277 m/s, LOS rate: -0.222154 deg/s, cmd heading: 263.555198 deg, new cmd heading: 263.328969 deg. 2025-09-20T19:31:37.618Z,1758396697.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595958 target range: 131.875809 and range: 132.40 m. 2025-09-20T19:31:37.640Z,1758396697.640 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:37.898Z,1758396697.898 [DAT](INFO): DAT read: 19:31:39.5406 LVL= 27312, 19537, 17906, 26291, AGC= 58, IDX= 441,-0.38,-2.873,-1.196,-0.552,-1.179, PHS=-1.592, 0.028, 0.583, RAW= 255.8, 10.1, CAL= 255.4, 10.7, ROT= 254.6, -10.7 2025-09-20T19:31:37.900Z,1758396697.900 [DAT](INFO): got valid direction response: 19:31:39.5406 LVL= 27312, 19537, 17906, 26291, AGC= 58, IDX= 441,-0.38,-2.873,-1.196,-0.552,-1.179, PHS=-1.592, 0.028, 0.583, RAW= 255.8, 10.1, CAL= 255.4, 10.7, ROT= 254.6, -10.7 2025-09-20T19:31:37.901Z,1758396697.901 [DAT](INFO): DAT read: Bearing 312.3, -80.6 (Local) 2025-09-20T19:31:37.901Z,1758396697.901 [DAT](INFO): Local bearing/azimuth received: Bearing 312.3, -80.6 (Local) 2025-09-20T19:31:37.904Z,1758396697.904 [DAT](INFO): DAT read: Range 11 to 50 : 133.3 m (Round-trip 177.8 ms) speed -0.2 m/s 2025-09-20T19:31:37.905Z,1758396697.905 [DAT](INFO): DAT read: user:32Tx time:19:31:40.6086 2025-09-20T19:31:37.906Z,1758396697.906 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:37.907Z,1758396697.907 [DAT](INFO): direction in FSK: [-0.260939,-0.947332,0.185667] 2025-09-20T19:31:37.907Z,1758396697.907 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:37.910Z,1758396697.910 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:37.910Z,1758396697.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:38.144Z,1758396698.144 [DAT](INFO): DAT read: > 2025-09-20T19:31:38.144Z,1758396698.144 [DAT](INFO): unknown deviceResponse_: > 2025-09-20T19:31:38.145Z,1758396698.145 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:38.150Z,1758396698.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.300003 m, deltaT: 3.528538 s, deltaX: 0.900009 m, approachRate: 0.255066 m/s, rangeRepo size: 4 2025-09-20T19:31:38.152Z,1758396698.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.773773 m, bearing: 267.873276 deg, lat: 36.779194 deg, lon: -121.859561 deg, deltaT: 3.528538 s, deltaX: 0.897964 m, approachRate: 0.254486 m/s, posRepo size: 4 2025-09-20T19:31:38.153Z,1758396698.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:38.171Z,1758396698.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.272430 m, bearing: 258.169365 deg, approach rate: 0.000000 m/s, LOS rate: -0.222154 deg/s, cmd heading: 263.328982 deg, new cmd heading: 263.083919 deg. 2025-09-20T19:31:38.172Z,1758396698.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591681 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:38.400Z,1758396698.400 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:38.645Z,1758396698.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:38.648Z,1758396698.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:38.650Z,1758396698.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.367340 m, bearing: 258.056888 deg, approach rate: 0.190346 m/s, LOS rate: -0.225416 deg/s, cmd heading: 263.083915 deg, new cmd heading: 262.859124 deg. 2025-09-20T19:31:38.652Z,1758396698.652 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:38.653Z,1758396698.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587757 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:38.904Z,1758396698.904 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:39.080Z,1758396699.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:39.082Z,1758396699.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.444641 m, bearing: 257.958110 deg, approach rate: 0.178941 m/s, LOS rate: -0.228523 deg/s, cmd heading: 262.859120 deg, new cmd heading: 262.661680 deg. 2025-09-20T19:31:39.083Z,1758396699.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584311 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:39.156Z,1758396699.156 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:39.408Z,1758396699.408 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:39.453Z,1758396699.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:39.456Z,1758396699.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.504990 m, bearing: 257.871517 deg, approach rate: 0.161476 m/s, LOS rate: -0.231593 deg/s, cmd heading: 262.661673 deg, new cmd heading: 262.488567 deg. 2025-09-20T19:31:39.457Z,1758396699.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581290 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:39.660Z,1758396699.660 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:39.898Z,1758396699.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:39.902Z,1758396699.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.567841 m, bearing: 257.768521 deg, approach rate: 0.142258 m/s, LOS rate: -0.233011 deg/s, cmd heading: 262.488568 deg, new cmd heading: 262.282675 deg. 2025-09-20T19:31:39.902Z,1758396699.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577696 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:39.912Z,1758396699.912 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:40.164Z,1758396700.164 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:40.282Z,1758396700.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:40.285Z,1758396700.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.619431 m, bearing: 257.677893 deg, approach rate: 0.133234 m/s, LOS rate: -0.233959 deg/s, cmd heading: 262.282679 deg, new cmd heading: 262.101496 deg. 2025-09-20T19:31:40.286Z,1758396700.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574534 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:40.416Z,1758396700.416 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:40.668Z,1758396700.668 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:40.683Z,1758396700.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:40.685Z,1758396700.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:40.688Z,1758396700.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.669403 m, bearing: 257.583499 deg, approach rate: 0.124129 m/s, LOS rate: -0.234381 deg/s, cmd heading: 262.101488 deg, new cmd heading: 261.912771 deg. 2025-09-20T19:31:40.689Z,1758396700.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571240 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:40.920Z,1758396700.920 [DAT](INFO): DAT read: Rx Time:19:31:43.1911 2025-09-20T19:31:40.921Z,1758396700.921 [DAT](INFO): Rx dataTimestamp_ set to:1758396700.920257 2025-09-20T19:31:40.921Z,1758396700.921 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:41.107Z,1758396701.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:41.110Z,1758396701.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.722260 m, bearing: 257.484485 deg, approach rate: 0.125341 m/s, LOS rate: -0.234702 deg/s, cmd heading: 261.912783 deg, new cmd heading: 261.714836 deg. 2025-09-20T19:31:41.110Z,1758396701.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567786 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:41.172Z,1758396701.172 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:41.428Z,1758396701.428 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:41.529Z,1758396701.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.77 m. 2025-09-20T19:31:41.532Z,1758396701.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.773773 m, nav range: 131.767059 m, bearing: 257.384785 deg, approach rate: 0.106077 m/s, LOS rate: -0.235990 deg/s, cmd heading: 261.714845 deg, new cmd heading: 261.515513 deg. 2025-09-20T19:31:41.533Z,1758396701.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564307 target range: 132.773773 and range: 133.30 m. 2025-09-20T19:31:41.682Z,1758396701.682 [DAT](INFO): DAT read: 19:31:43.1911 LVL= 27184, 21217, 16962, 32755, AGC= 57, IDX= 430,-0.11, 1.819,-3.018,-2.200,-2.909, PHS=-1.453,-0.063, 0.665, RAW= 250.2, 9.2, CAL= 249.5, 9.7, ROT= 260.5, -9.7 2025-09-20T19:31:41.683Z,1758396701.683 [DAT](INFO): got valid direction response: 19:31:43.1911 LVL= 27184, 21217, 16962, 32755, AGC= 57, IDX= 430,-0.11, 1.819,-3.018,-2.200,-2.909, PHS=-1.453,-0.063, 0.665, RAW= 250.2, 9.2, CAL= 249.5, 9.7, ROT= 260.5, -9.7 2025-09-20T19:31:41.701Z,1758396701.701 [DAT](INFO): DAT read: Bearing 256.6, -84.7 (Local) 2025-09-20T19:31:41.701Z,1758396701.701 [DAT](INFO): Local bearing/azimuth received: Bearing 256.6, -84.7 (Local) 2025-09-20T19:31:41.702Z,1758396701.702 [DAT](INFO): DAT read: Range 11 to 50 : 133.7 m (Round-trip 178.3 ms) speed -0.1 m/s 2025-09-20T19:31:41.704Z,1758396701.704 [DAT](INFO): DAT read: userTx time:19:31:44.2586 2025-09-20T19:31:41.704Z,1758396701.704 [DAT](INFO): unknown deviceResponse_: userTx time:19:31:44.2586 2025-09-20T19:31:41.704Z,1758396701.704 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:41.705Z,1758396701.705 [DAT](INFO): direction in FSK: [-0.162688,-0.972185,0.168489] 2025-09-20T19:31:41.706Z,1758396701.706 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:41.709Z,1758396701.709 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:41.709Z,1758396701.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:41.928Z,1758396701.928 [DAT](INFO): DAT read: :33> 2025-09-20T19:31:41.928Z,1758396701.928 [DAT](INFO): unknown deviceResponse_: :33> 2025-09-20T19:31:41.929Z,1758396701.929 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:41.979Z,1758396701.979 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -100, +557, :BE, -100, +557, 2025-09-20T19:31:42.043Z,1758396702.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.699997 m, deltaT: 3.783575 s, deltaX: 0.399994 m, approachRate: 0.105719 m/s, rangeRepo size: 4 2025-09-20T19:31:42.045Z,1758396702.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.171951 m, bearing: 264.435967 deg, lat: 36.779342 deg, lon: -121.859570 deg, deltaT: 3.783575 s, deltaX: 0.398178 m, approachRate: 0.105239 m/s, posRepo size: 4 2025-09-20T19:31:42.046Z,1758396702.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:42.053Z,1758396702.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171951 m, nav range: 130.033051 m, bearing: 264.431613 deg, approach rate: 0.000000 m/s, LOS rate: -0.235990 deg/s, cmd heading: 261.515512 deg, new cmd heading: 261.275166 deg. 2025-09-20T19:31:42.054Z,1758396702.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560112 target range: 133.171951 and range: 133.70 m. 2025-09-20T19:31:42.180Z,1758396702.180 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:42.432Z,1758396702.432 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:42.432Z,1758396702.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:42.435Z,1758396702.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171951 m, nav range: 130.041260 m, bearing: 264.332149 deg, approach rate: 0.020905 m/s, LOS rate: -0.253274 deg/s, cmd heading: 261.275172 deg, new cmd heading: 261.076259 deg. 2025-09-20T19:31:42.436Z,1758396702.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556640 target range: 133.171951 and range: 133.70 m. 2025-09-20T19:31:42.687Z,1758396702.687 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:42.897Z,1758396702.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:42.900Z,1758396702.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:42.902Z,1758396702.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171951 m, nav range: 130.041595 m, bearing: 264.221729 deg, approach rate: 0.000716 m/s, LOS rate: -0.235621 deg/s, cmd heading: 261.076249 deg, new cmd heading: 260.855410 deg. 2025-09-20T19:31:42.903Z,1758396702.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552786 target range: 133.171951 and range: 133.70 m. 2025-09-20T19:31:42.937Z,1758396702.937 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:43.188Z,1758396703.188 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:43.254Z,1758396703.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:43.257Z,1758396703.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171951 m, nav range: 130.030014 m, bearing: 264.129070 deg, approach rate: -0.032663 m/s, LOS rate: -0.261351 deg/s, cmd heading: 260.855416 deg, new cmd heading: 260.670082 deg. 2025-09-20T19:31:43.258Z,1758396703.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549551 target range: 133.171951 and range: 133.70 m. 2025-09-20T19:31:43.440Z,1758396703.440 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:43.630Z,1758396703.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:43.633Z,1758396703.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171951 m, nav range: 130.014603 m, bearing: 264.034842 deg, approach rate: -0.040966 m/s, LOS rate: -0.250505 deg/s, cmd heading: 260.670072 deg, new cmd heading: 260.481594 deg. 2025-09-20T19:31:43.634Z,1758396703.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546261 target range: 133.171951 and range: 133.70 m. 2025-09-20T19:31:43.693Z,1758396703.693 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:43.944Z,1758396703.944 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:44.055Z,1758396704.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:44.057Z,1758396704.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171951 m, nav range: 130.001007 m, bearing: 263.926202 deg, approach rate: -0.032042 m/s, LOS rate: -0.256066 deg/s, cmd heading: 260.481586 deg, new cmd heading: 260.264284 deg. 2025-09-20T19:31:44.058Z,1758396704.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542469 target range: 133.171951 and range: 133.70 m. 2025-09-20T19:31:44.196Z,1758396704.196 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:44.448Z,1758396704.448 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:44.517Z,1758396704.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:44.520Z,1758396704.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171951 m, nav range: 129.981888 m, bearing: 263.807731 deg, approach rate: -0.041314 m/s, LOS rate: -0.256035 deg/s, cmd heading: 260.264276 deg, new cmd heading: 260.027301 deg. 2025-09-20T19:31:44.521Z,1758396704.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538332 target range: 133.171951 and range: 133.70 m. 2025-09-20T19:31:44.700Z,1758396704.700 [DAT](INFO): DAT read: Rx Time:19:31:46.8412 2025-09-20T19:31:44.701Z,1758396704.701 [DAT](INFO): Rx dataTimestamp_ set to:1758396704.700241 2025-09-20T19:31:44.701Z,1758396704.701 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:44.952Z,1758396704.952 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:44.956Z,1758396704.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:44.958Z,1758396704.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:44.962Z,1758396704.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171951 m, nav range: 129.961655 m, bearing: 263.696101 deg, approach rate: -0.045955 m/s, LOS rate: -0.253582 deg/s, cmd heading: 260.027296 deg, new cmd heading: 259.804002 deg. 2025-09-20T19:31:44.964Z,1758396704.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534435 target range: 133.171951 and range: 133.70 m. 2025-09-20T19:31:45.213Z,1758396705.213 [DAT](INFO): DAT read: 19:31:46.8412 LVL= 24112, 19105, 16786, 27635, AGC= 57, IDX= 431, 0.03,-1.151, 0.134, 1.327, 0.338, PHS=-1.387,-0.158, 0.945, RAW= 241.8, 6.0, CAL= 240.3, 6.8, ROT= 269.7, -6.8 2025-09-20T19:31:45.214Z,1758396705.214 [DAT](INFO): got valid direction response: 19:31:46.8412 LVL= 24112, 19105, 16786, 27635, AGC= 57, IDX= 431, 0.03,-1.151, 0.134, 1.327, 0.338, PHS=-1.387,-0.158, 0.945, RAW= 241.8, 6.0, CAL= 240.3, 6.8, ROT= 269.7, -6.8 2025-09-20T19:31:45.216Z,1758396705.216 [DAT](INFO): DAT read: Bearing 173.9, -79.8 (Local) 2025-09-20T19:31:45.216Z,1758396705.216 [DAT](INFO): Local bearing/azimuth received: Bearing 173.9, -79.8 (Local) 2025-09-20T19:31:45.218Z,1758396705.218 [DAT](INFO): DAT read: Range 11 to 50 : 133.8 m (Round-trip 178.4 ms) speed -0.1 m/s 2025-09-20T19:31:45.219Z,1758396705.219 [DAT](INFO): DAT read: userTx time:19:31:47.9086 2025-09-20T19:31:45.219Z,1758396705.219 [DAT](INFO): unknown deviceResponse_: userTx time:19:31:47.9086 2025-09-20T19:31:45.219Z,1758396705.219 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:45.220Z,1758396705.220 [DAT](INFO): direction in FSK: [-0.005199,-0.992952,0.118404] 2025-09-20T19:31:45.221Z,1758396705.221 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:45.225Z,1758396705.225 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:45.225Z,1758396705.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:45.356Z,1758396705.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.800003 m, deltaT: 3.529946 s, deltaX: 0.100006 m, approachRate: 0.028331 m/s, rangeRepo size: 4 2025-09-20T19:31:45.358Z,1758396705.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.271622 m, bearing: 264.803643 deg, lat: 36.779365 deg, lon: -121.859572 deg, deltaT: 3.529946 s, deltaX: 0.099670 m, approachRate: 0.028236 m/s, posRepo size: 4 2025-09-20T19:31:45.363Z,1758396705.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:45.366Z,1758396705.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.785721 m, bearing: 264.753256 deg, approach rate: 0.000000 m/s, LOS rate: -0.253582 deg/s, cmd heading: 259.804004 deg, new cmd heading: 259.602142 deg. 2025-09-20T19:31:45.371Z,1758396705.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530912 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:45.456Z,1758396705.456 [DAT](INFO): DAT read: :34> 2025-09-20T19:31:45.456Z,1758396705.456 [DAT](INFO): unknown deviceResponse_: :34> 2025-09-20T19:31:45.457Z,1758396705.457 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:45.708Z,1758396705.708 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:45.714Z,1758396705.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:45.717Z,1758396705.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.757523 m, bearing: 264.659687 deg, approach rate: -0.078610 m/s, LOS rate: -0.260902 deg/s, cmd heading: 259.602131 deg, new cmd heading: 259.414954 deg. 2025-09-20T19:31:45.718Z,1758396705.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527645 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:45.961Z,1758396705.961 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:46.139Z,1758396706.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:46.142Z,1758396706.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.733322 m, bearing: 264.550975 deg, approach rate: -0.057033 m/s, LOS rate: -0.256251 deg/s, cmd heading: 259.414956 deg, new cmd heading: 259.197492 deg. 2025-09-20T19:31:46.143Z,1758396706.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523849 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:46.212Z,1758396706.212 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:46.465Z,1758396706.465 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:46.527Z,1758396706.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:46.529Z,1758396706.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.707687 m, bearing: 264.452013 deg, approach rate: -0.066086 m/s, LOS rate: -0.255173 deg/s, cmd heading: 259.197483 deg, new cmd heading: 258.999521 deg. 2025-09-20T19:31:46.530Z,1758396706.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520394 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:46.717Z,1758396706.717 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:46.969Z,1758396706.969 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:47.012Z,1758396707.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:47.014Z,1758396707.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:47.022Z,1758396707.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.672546 m, bearing: 264.329612 deg, approach rate: -0.072043 m/s, LOS rate: -0.251003 deg/s, cmd heading: 258.999517 deg, new cmd heading: 258.754650 deg. 2025-09-20T19:31:47.027Z,1758396707.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516120 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:47.220Z,1758396707.220 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:47.328Z,1758396707.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:47.330Z,1758396707.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.645966 m, bearing: 264.247562 deg, approach rate: -0.084826 m/s, LOS rate: -0.261897 deg/s, cmd heading: 258.754641 deg, new cmd heading: 258.590507 deg. 2025-09-20T19:31:47.332Z,1758396707.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513256 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:47.472Z,1758396707.472 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:47.724Z,1758396707.724 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:47.743Z,1758396707.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:47.751Z,1758396707.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.608124 m, bearing: 264.142640 deg, approach rate: -0.091096 m/s, LOS rate: -0.252651 deg/s, cmd heading: 258.590498 deg, new cmd heading: 258.380594 deg. 2025-09-20T19:31:47.752Z,1758396707.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509592 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:47.977Z,1758396707.977 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:48.165Z,1758396708.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:48.168Z,1758396708.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.570557 m, bearing: 264.033682 deg, approach rate: -0.088989 m/s, LOS rate: -0.258175 deg/s, cmd heading: 258.380592 deg, new cmd heading: 258.162615 deg. 2025-09-20T19:31:48.169Z,1758396708.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505788 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:48.228Z,1758396708.228 [DAT](INFO): DAT read: Rx Time:19:31:50.4911 2025-09-20T19:31:48.229Z,1758396708.229 [DAT](INFO): Rx dataTimestamp_ set to:1758396708.228541 2025-09-20T19:31:48.229Z,1758396708.229 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:48.480Z,1758396708.480 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:48.545Z,1758396708.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.27 m. 2025-09-20T19:31:48.549Z,1758396708.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.271622 m, nav range: 129.533508 m, bearing: 263.936477 deg, approach rate: -0.097540 m/s, LOS rate: -0.255992 deg/s, cmd heading: 258.162627 deg, new cmd heading: 257.968162 deg. 2025-09-20T19:31:48.550Z,1758396708.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502394 target range: 133.271622 and range: 133.80 m. 2025-09-20T19:31:48.734Z,1758396708.734 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:48.991Z,1758396708.991 [DAT](INFO): DAT read: 19:31:50.4911 LVL= 32032, 24193, 20754, 24291, AGC= 64, IDX= 430, 0.28,-2.141,-0.982, 0.512,-0.734, PHS=-1.306,-0.203, 1.202, RAW= 236.0, 2.9, CAL= 233.6, 3.6, ROT= 276.4, -3.6 2025-09-20T19:31:48.992Z,1758396708.992 [DAT](INFO): got valid direction response: 19:31:50.4911 LVL= 32032, 24193, 20754, 24291, AGC= 64, IDX= 430, 0.28,-2.141,-0.982, 0.512,-0.734, PHS=-1.306,-0.203, 1.202, RAW= 236.0, 2.9, CAL= 233.6, 3.6, ROT= 276.4, -3.6 2025-09-20T19:31:48.993Z,1758396708.993 [DAT](INFO): DAT read: Bearing 146.4, -73.1 (Local) 2025-09-20T19:31:48.993Z,1758396708.993 [DAT](INFO): Local bearing/azimuth received: Bearing 146.4, -73.1 (Local) 2025-09-20T19:31:48.995Z,1758396708.995 [DAT](INFO): DAT read: Range 11 to 50 : 133.7 m (Round-trip 178.3 ms) speed 0.1 m/s 2025-09-20T19:31:48.996Z,1758396708.996 [DAT](INFO): DAT read: user:35>Tx time:19:31:51.5586 2025-09-20T19:31:48.996Z,1758396708.996 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:48.997Z,1758396708.997 [DAT](INFO): direction in FSK: [0.111249,-0.991807,0.062791] 2025-09-20T19:31:48.998Z,1758396708.998 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:49.001Z,1758396709.001 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:49.001Z,1758396709.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:49.117Z,1758396709.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.699997 m, deltaT: 3.778629 s, deltaX: -0.100006 m, approachRate: -0.026466 m/s, rangeRepo size: 4 2025-09-20T19:31:49.124Z,1758396709.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.171844 m, bearing: 262.798842 deg, lat: 36.779365 deg, lon: -121.859574 deg, deltaT: 3.778629 s, deltaX: -0.099777 m, approachRate: -0.026406 m/s, posRepo size: 4 2025-09-20T19:31:49.124Z,1758396709.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:49.131Z,1758396709.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.686935 m, bearing: 263.808203 deg, approach rate: 0.000000 m/s, LOS rate: -0.255992 deg/s, cmd heading: 257.968158 deg, new cmd heading: 257.675612 deg. 2025-09-20T19:31:49.132Z,1758396709.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497288 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:49.236Z,1758396709.236 [DAT](INFO): DAT read: 2025-09-20T19:31:49.237Z,1758396709.237 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:49.452Z,1758396709.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:49.456Z,1758396709.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:49.462Z,1758396709.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.646332 m, bearing: 263.720722 deg, approach rate: -0.119896 m/s, LOS rate: -0.258397 deg/s, cmd heading: 257.675607 deg, new cmd heading: 257.500592 deg. 2025-09-20T19:31:49.464Z,1758396709.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494233 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:49.488Z,1758396709.488 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:49.740Z,1758396709.740 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:49.847Z,1758396709.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:49.850Z,1758396709.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.597488 m, bearing: 263.623262 deg, approach rate: -0.124777 m/s, LOS rate: -0.249070 deg/s, cmd heading: 257.500591 deg, new cmd heading: 257.305597 deg. 2025-09-20T19:31:49.875Z,1758396709.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490830 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:49.997Z,1758396709.997 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:50.248Z,1758396710.248 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:50.291Z,1758396710.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:50.294Z,1758396710.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.538300 m, bearing: 263.515772 deg, approach rate: -0.133776 m/s, LOS rate: -0.243055 deg/s, cmd heading: 257.305602 deg, new cmd heading: 257.090525 deg. 2025-09-20T19:31:50.295Z,1758396710.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487076 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:50.505Z,1758396710.505 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:50.657Z,1758396710.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:50.660Z,1758396710.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.481552 m, bearing: 263.419251 deg, approach rate: -0.154056 m/s, LOS rate: -0.262145 deg/s, cmd heading: 257.090533 deg, new cmd heading: 256.897408 deg. 2025-09-20T19:31:50.661Z,1758396710.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483706 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:50.753Z,1758396710.753 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:51.004Z,1758396711.004 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:51.092Z,1758396711.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:51.095Z,1758396711.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.407074 m, bearing: 263.309276 deg, approach rate: -0.171397 m/s, LOS rate: -0.253233 deg/s, cmd heading: 256.897403 deg, new cmd heading: 256.677326 deg. 2025-09-20T19:31:51.096Z,1758396711.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479865 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:51.256Z,1758396711.256 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:51.478Z,1758396711.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:51.482Z,1758396711.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:51.485Z,1758396711.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.338379 m, bearing: 263.213174 deg, approach rate: -0.176255 m/s, LOS rate: -0.246703 deg/s, cmd heading: 256.677334 deg, new cmd heading: 256.485031 deg. 2025-09-20T19:31:51.486Z,1758396711.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476508 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:51.508Z,1758396711.508 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:51.760Z,1758396711.760 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:51.870Z,1758396711.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:51.873Z,1758396711.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.263611 m, bearing: 263.113970 deg, approach rate: -0.192687 m/s, LOS rate: -0.255811 deg/s, cmd heading: 256.485023 deg, new cmd heading: 256.286500 deg. 2025-09-20T19:31:51.874Z,1758396711.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473043 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:52.017Z,1758396712.017 [DAT](INFO): DAT read: Rx Time:19:31:54.1407 2025-09-20T19:31:52.018Z,1758396712.018 [DAT](INFO): Rx dataTimestamp_ set to:1758396712.016982 2025-09-20T19:31:52.020Z,1758396712.020 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:52.264Z,1758396712.264 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:52.325Z,1758396712.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.17 m. 2025-09-20T19:31:52.335Z,1758396712.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.171844 m, nav range: 129.182587 m, bearing: 263.004144 deg, approach rate: -0.177897 m/s, LOS rate: -0.241284 deg/s, cmd heading: 256.286511 deg, new cmd heading: 256.066723 deg. 2025-09-20T19:31:52.336Z,1758396712.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469207 target range: 133.171844 and range: 133.70 m. 2025-09-20T19:31:52.522Z,1758396712.522 [DAT](INFO): DAT read: 19:31:54.1407 LVL= 31456, 29793, 21746, 26435, AGC= 61, IDX= 442, 0.00, 2.175, 2.943,-1.491,-2.877, PHS=-1.129,-0.418, 1.342, RAW= 226.2, 1.9, CAL= 224.2, 2.3, ROT= 285.8, -2.3 2025-09-20T19:31:52.523Z,1758396712.523 [DAT](INFO): got valid direction response: 19:31:54.1407 LVL= 31456, 29793, 21746, 26435, AGC= 61, IDX= 442, 0.00, 2.175, 2.943,-1.491,-2.877, PHS=-1.129,-0.418, 1.342, RAW= 226.2, 1.9, CAL= 224.2, 2.3, ROT= 285.8, -2.3 2025-09-20T19:31:52.524Z,1758396712.524 [DAT](INFO): DAT read: Bearing 135.8, -63.3 (Local) 2025-09-20T19:31:52.525Z,1758396712.525 [DAT](INFO): Local bearing/azimuth received: Bearing 135.8, -63.3 (Local) 2025-09-20T19:31:52.526Z,1758396712.526 [DAT](INFO): DAT read: Range 11 to 50 : 133.4 m (Round-trip 177.9 ms) speed 0.0 m/s 2025-09-20T19:31:52.527Z,1758396712.527 [DAT](INFO): DAT read: user:36>Tx time:19:31:55.2086 2025-09-20T19:31:52.528Z,1758396712.528 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:52.529Z,1758396712.529 [DAT](INFO): direction in FSK: [0.272061,-0.961443,0.040132] 2025-09-20T19:31:52.529Z,1758396712.529 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:52.532Z,1758396712.532 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:52.533Z,1758396712.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:52.713Z,1758396712.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.399994 m, deltaT: 3.531954 s, deltaX: -0.300003 m, approachRate: -0.084940 m/s, rangeRepo size: 4 2025-09-20T19:31:52.715Z,1758396712.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.872787 m, bearing: 263.429067 deg, lat: 36.779365 deg, lon: -121.859586 deg, deltaT: 3.531954 s, deltaX: -0.299057 m, approachRate: -0.084672 m/s, posRepo size: 4 2025-09-20T19:31:52.719Z,1758396712.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:52.722Z,1758396712.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 130.152100 m, bearing: 262.964211 deg, approach rate: 0.000000 m/s, LOS rate: -0.241284 deg/s, cmd heading: 256.066715 deg, new cmd heading: 255.880116 deg. 2025-09-20T19:31:52.727Z,1758396712.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465950 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:52.768Z,1758396712.768 [DAT](INFO): DAT read: 2025-09-20T19:31:52.768Z,1758396712.768 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:53.022Z,1758396713.022 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:53.110Z,1758396713.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:53.113Z,1758396713.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 130.059875 m, bearing: 262.862485 deg, approach rate: -0.231451 m/s, LOS rate: -0.255476 deg/s, cmd heading: 255.880115 deg, new cmd heading: 255.676521 deg. 2025-09-20T19:31:53.114Z,1758396713.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462397 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:53.272Z,1758396713.272 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:53.494Z,1758396713.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:53.497Z,1758396713.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:53.500Z,1758396713.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 129.970520 m, bearing: 262.768144 deg, approach rate: -0.231261 m/s, LOS rate: -0.244333 deg/s, cmd heading: 255.676520 deg, new cmd heading: 255.487708 deg. 2025-09-20T19:31:53.501Z,1758396713.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459102 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:53.524Z,1758396713.524 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:53.776Z,1758396713.776 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:53.888Z,1758396713.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:53.890Z,1758396713.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 129.876892 m, bearing: 262.673315 deg, approach rate: -0.239939 m/s, LOS rate: -0.243193 deg/s, cmd heading: 255.487707 deg, new cmd heading: 255.297912 deg. 2025-09-20T19:31:53.892Z,1758396713.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455789 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:54.030Z,1758396714.030 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:54.280Z,1758396714.280 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:54.294Z,1758396714.294 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V 2025-09-20T19:31:54.310Z,1758396714.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:54.313Z,1758396714.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 129.772049 m, bearing: 262.571353 deg, approach rate: -0.247988 m/s, LOS rate: -0.241367 deg/s, cmd heading: 255.297909 deg, new cmd heading: 255.093822 deg. 2025-09-20T19:31:54.314Z,1758396714.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452227 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:54.532Z,1758396714.532 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:54.698Z,1758396714.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:54.701Z,1758396714.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 129.672760 m, bearing: 262.478523 deg, approach rate: -0.255748 m/s, LOS rate: -0.239295 deg/s, cmd heading: 255.093823 deg, new cmd heading: 254.908021 deg. 2025-09-20T19:31:54.702Z,1758396714.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448984 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:54.785Z,1758396714.785 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:55.038Z,1758396715.038 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:55.139Z,1758396715.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:55.142Z,1758396715.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 129.553802 m, bearing: 262.372771 deg, approach rate: -0.269867 m/s, LOS rate: -0.240130 deg/s, cmd heading: 254.908015 deg, new cmd heading: 254.696317 deg. 2025-09-20T19:31:55.143Z,1758396715.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445289 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:55.288Z,1758396715.288 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:55.508Z,1758396715.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:55.510Z,1758396715.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:55.513Z,1758396715.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 129.450867 m, bearing: 262.284630 deg, approach rate: -0.277139 m/s, LOS rate: -0.237495 deg/s, cmd heading: 254.696306 deg, new cmd heading: 254.519884 deg. 2025-09-20T19:31:55.514Z,1758396715.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442210 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:55.553Z,1758396715.553 [DAT](INFO): DAT read: Rx Time:19:31:57.7896 2025-09-20T19:31:55.554Z,1758396715.554 [DAT](INFO): Rx dataTimestamp_ set to:1758396715.553140 2025-09-20T19:31:55.554Z,1758396715.554 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:55.804Z,1758396715.804 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:55.908Z,1758396715.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.87 m. 2025-09-20T19:31:55.910Z,1758396715.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.872787 m, nav range: 129.337189 m, bearing: 262.190841 deg, approach rate: -0.286699 m/s, LOS rate: -0.236746 deg/s, cmd heading: 254.519896 deg, new cmd heading: 254.332154 deg. 2025-09-20T19:31:55.911Z,1758396715.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438933 target range: 132.872787 and range: 133.40 m. 2025-09-20T19:31:56.084Z,1758396716.084 [DAT](INFO): DAT read: 19:31:57.7896 LVL= 24752, 24401, 19250, 24563, AGC= 59, IDX= 431, 0.40, 0.646, 1.038, 3.126, 1.665, PHS=-0.917,-0.582, 1.417, RAW= 217.6, 0.8, CAL= 215.9, 0.1, ROT= 294.1, -0.1 2025-09-20T19:31:56.085Z,1758396716.085 [DAT](INFO): got valid direction response: 19:31:57.7896 LVL= 24752, 24401, 19250, 24563, AGC= 59, IDX= 431, 0.40, 0.646, 1.038, 3.126, 1.665, PHS=-0.917,-0.582, 1.417, RAW= 217.6, 0.8, CAL= 215.9, 0.1, ROT= 294.1, -0.1 2025-09-20T19:31:56.086Z,1758396716.086 [DAT](INFO): DAT read: Bearing 124.5, -54.6 (Local) 2025-09-20T19:31:56.086Z,1758396716.086 [DAT](INFO): Local bearing/azimuth received: Bearing 124.5, -54.6 (Local) 2025-09-20T19:31:56.088Z,1758396716.088 [DAT](INFO): DAT read: Range 11 to 50 : 132.6 m (Round-trip 176.8 ms) speed 0.0 m/s 2025-09-20T19:31:56.089Z,1758396716.089 [DAT](INFO): DAT read: user:37>Tx time:19:31:58.8586 2025-09-20T19:31:56.090Z,1758396716.090 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:56.090Z,1758396716.090 [DAT](INFO): direction in FSK: [0.408330,-0.912833,0.001745] 2025-09-20T19:31:56.096Z,1758396716.096 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:56.106Z,1758396716.106 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:56.111Z,1758396716.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:31:56.308Z,1758396716.308 [DAT](INFO): DAT read: 2025-09-20T19:31:56.308Z,1758396716.308 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:56.351Z,1758396716.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 3.541948 s, deltaX: -0.799988 m, approachRate: -0.225861 m/s, rangeRepo size: 4 2025-09-20T19:31:56.353Z,1758396716.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.075897 m, bearing: 263.167832 deg, lat: 36.779365 deg, lon: -121.859592 deg, deltaT: 3.541948 s, deltaX: -0.796890 m, approachRate: -0.224986 m/s, posRepo size: 4 2025-09-20T19:31:56.354Z,1758396716.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:56.357Z,1758396716.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 129.753448 m, bearing: 262.119371 deg, approach rate: 0.000000 m/s, LOS rate: -0.236746 deg/s, cmd heading: 254.332148 deg, new cmd heading: 254.122035 deg. 2025-09-20T19:31:56.358Z,1758396716.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435266 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:56.561Z,1758396716.561 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:56.731Z,1758396716.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:56.734Z,1758396716.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 129.639175 m, bearing: 262.027620 deg, approach rate: -0.300137 m/s, LOS rate: -0.241194 deg/s, cmd heading: 254.122024 deg, new cmd heading: 253.938362 deg. 2025-09-20T19:31:56.735Z,1758396716.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432061 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:56.812Z,1758396716.812 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:57.066Z,1758396717.066 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:57.142Z,1758396717.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:57.145Z,1758396717.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 129.511444 m, bearing: 261.929741 deg, approach rate: -0.311050 m/s, LOS rate: -0.238589 deg/s, cmd heading: 253.938374 deg, new cmd heading: 253.742424 deg. 2025-09-20T19:31:57.146Z,1758396717.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428641 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:57.316Z,1758396717.316 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:57.521Z,1758396717.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:57.524Z,1758396717.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:57.527Z,1758396717.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 129.389465 m, bearing: 261.839429 deg, approach rate: -0.319056 m/s, LOS rate: -0.236448 deg/s, cmd heading: 253.742429 deg, new cmd heading: 253.561636 deg. 2025-09-20T19:31:57.528Z,1758396717.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425486 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:57.568Z,1758396717.568 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:57.820Z,1758396717.820 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:57.974Z,1758396717.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:57.981Z,1758396717.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 129.252060 m, bearing: 261.737203 deg, approach rate: -0.305514 m/s, LOS rate: -0.227536 deg/s, cmd heading: 253.561648 deg, new cmd heading: 253.356979 deg. 2025-09-20T19:31:57.982Z,1758396717.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.421914 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:58.075Z,1758396718.075 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:58.324Z,1758396718.324 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:58.406Z,1758396718.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:58.409Z,1758396718.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 129.102646 m, bearing: 261.632803 deg, approach rate: -0.346065 m/s, LOS rate: -0.242087 deg/s, cmd heading: 253.356988 deg, new cmd heading: 253.147946 deg. 2025-09-20T19:31:58.409Z,1758396718.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418265 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:58.576Z,1758396718.576 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:58.764Z,1758396718.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:58.766Z,1758396718.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 128.981491 m, bearing: 261.551079 deg, approach rate: -0.338541 m/s, LOS rate: -0.228575 deg/s, cmd heading: 253.147957 deg, new cmd heading: 252.984356 deg. 2025-09-20T19:31:58.767Z,1758396718.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415410 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:58.828Z,1758396718.828 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:59.083Z,1758396719.083 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:59.194Z,1758396719.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:59.201Z,1758396719.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 128.842911 m, bearing: 261.454916 deg, approach rate: -0.321920 m/s, LOS rate: -0.223624 deg/s, cmd heading: 252.984360 deg, new cmd heading: 252.791829 deg. 2025-09-20T19:31:59.202Z,1758396719.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412050 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:59.332Z,1758396719.332 [DAT](INFO): DAT read: Rx Time:19:32:01.4383 2025-09-20T19:31:59.332Z,1758396719.332 [DAT](INFO): Rx dataTimestamp_ set to:1758396719.332146 2025-09-20T19:31:59.333Z,1758396719.333 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:59.558Z,1758396719.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:31:59.561Z,1758396719.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m. 2025-09-20T19:31:59.584Z,1758396719.584 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:59.585Z,1758396719.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.075897 m, nav range: 128.711960 m, bearing: 261.367048 deg, approach rate: -0.357228 m/s, LOS rate: -0.239945 deg/s, cmd heading: 252.791831 deg, new cmd heading: 252.615916 deg. 2025-09-20T19:31:59.586Z,1758396719.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408979 target range: 132.075897 and range: 132.60 m. 2025-09-20T19:31:59.842Z,1758396719.842 [DAT](INFO): DAT read: 19:32:01.4383 LVL= 28896, 30321, 19426, 30019, AGC= 60, IDX= 435,-0.18, 1.234, 1.402,-2.688, 2.188, PHS=-0.852,-0.741, 1.363, RAW= 212.6, 2.2, CAL= 211.7, 1.2, ROT= 298.3, -1.2 2025-09-20T19:31:59.843Z,1758396719.843 [DAT](INFO): got valid direction response: 19:32:01.4383 LVL= 28896, 30321, 19426, 30019, AGC= 60, IDX= 435,-0.18, 1.234, 1.402,-2.688, 2.188, PHS=-0.852,-0.741, 1.363, RAW= 212.6, 2.2, CAL= 211.7, 1.2, ROT= 298.3, -1.2 2025-09-20T19:31:59.844Z,1758396719.844 [DAT](INFO): DAT read: Bearing 118.3, -50.3 (Local) 2025-09-20T19:31:59.844Z,1758396719.844 [DAT](INFO): Local bearing/azimuth received: Bearing 118.3, -50.3 (Local) 2025-09-20T19:31:59.846Z,1758396719.846 [DAT](INFO): DAT read: Range 11 to 50 : 131.6 m (Round-trip 175.5 ms) speed 0.1 m/s 2025-09-20T19:31:59.847Z,1758396719.847 [DAT](INFO): DAT read: user:38>Tx time:19:32:02.5086 2025-09-20T19:31:59.847Z,1758396719.847 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:31:59.848Z,1758396719.848 [DAT](INFO): direction in FSK: [0.473984,-0.880284,0.020942] 2025-09-20T19:31:59.848Z,1758396719.848 [DAT](INFO): publishing direction and range info 2025-09-20T19:31:59.852Z,1758396719.852 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:31:59.852Z,1758396719.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:00.026Z,1758396720.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.600006 m, deltaT: 3.777561 s, deltaX: -1.000000 m, approachRate: -0.264721 m/s, rangeRepo size: 4 2025-09-20T19:32:00.032Z,1758396720.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.079575 m, bearing: 258.201082 deg, lat: 36.779365 deg, lon: -121.859592 deg, deltaT: 3.777561 s, deltaX: -0.996323 m, approachRate: -0.263748 m/s, posRepo size: 4 2025-09-20T19:32:00.033Z,1758396720.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:00.044Z,1758396720.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 128.556839 m, bearing: 261.266214 deg, approach rate: 0.000000 m/s, LOS rate: -0.239945 deg/s, cmd heading: 252.615912 deg, new cmd heading: 252.392813 deg. 2025-09-20T19:32:00.045Z,1758396720.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405086 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:00.090Z,1758396720.090 [DAT](INFO): DAT read: 2025-09-20T19:32:00.093Z,1758396720.093 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:00.341Z,1758396720.341 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:00.475Z,1758396720.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:00.478Z,1758396720.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 128.397369 m, bearing: 261.161929 deg, approach rate: -0.358185 m/s, LOS rate: -0.234525 deg/s, cmd heading: 252.392811 deg, new cmd heading: 252.183983 deg. 2025-09-20T19:32:00.479Z,1758396720.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401441 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:00.592Z,1758396720.592 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:00.845Z,1758396720.845 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:00.900Z,1758396720.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:00.902Z,1758396720.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 128.245987 m, bearing: 261.066087 deg, approach rate: -0.353403 m/s, LOS rate: -0.224008 deg/s, cmd heading: 252.183971 deg, new cmd heading: 251.992062 deg. 2025-09-20T19:32:00.920Z,1758396720.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398091 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:01.098Z,1758396721.098 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:01.287Z,1758396721.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:01.290Z,1758396721.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 128.100250 m, bearing: 260.977248 deg, approach rate: -0.375464 m/s, LOS rate: -0.229137 deg/s, cmd heading: 251.992070 deg, new cmd heading: 251.814191 deg. 2025-09-20T19:32:01.291Z,1758396721.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394987 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:01.348Z,1758396721.348 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:01.600Z,1758396721.600 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:01.664Z,1758396721.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:01.666Z,1758396721.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:01.669Z,1758396721.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 127.959549 m, bearing: 260.894077 deg, approach rate: -0.371643 m/s, LOS rate: -0.219927 deg/s, cmd heading: 251.814185 deg, new cmd heading: 251.647660 deg. 2025-09-20T19:32:01.670Z,1758396721.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392080 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:01.852Z,1758396721.852 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:02.067Z,1758396722.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:02.069Z,1758396722.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 127.807449 m, bearing: 260.806839 deg, approach rate: -0.379448 m/s, LOS rate: -0.217894 deg/s, cmd heading: 251.647665 deg, new cmd heading: 251.472982 deg. 2025-09-20T19:32:02.070Z,1758396722.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389031 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:02.104Z,1758396722.104 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:02.356Z,1758396722.356 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:02.513Z,1758396722.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:02.516Z,1758396722.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 127.641220 m, bearing: 260.709941 deg, approach rate: -0.372696 m/s, LOS rate: -0.217534 deg/s, cmd heading: 251.472976 deg, new cmd heading: 251.278929 deg. 2025-09-20T19:32:02.517Z,1758396722.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385644 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:02.608Z,1758396722.608 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:02.860Z,1758396722.860 [DAT](INFO): DAT read: Rx Time:19:32:05.0868 2025-09-20T19:32:02.861Z,1758396722.861 [DAT](INFO): Rx dataTimestamp_ set to:1758396722.860341 2025-09-20T19:32:02.861Z,1758396722.861 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:02.902Z,1758396722.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:02.905Z,1758396722.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 127.496475 m, bearing: 260.628033 deg, approach rate: -0.371896 m/s, LOS rate: -0.210687 deg/s, cmd heading: 251.278917 deg, new cmd heading: 251.114915 deg. 2025-09-20T19:32:02.906Z,1758396722.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382782 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:03.114Z,1758396723.114 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:03.310Z,1758396723.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.08 m. 2025-09-20T19:32:03.313Z,1758396723.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.079575 m, nav range: 127.334908 m, bearing: 260.539976 deg, approach rate: -0.396019 m/s, LOS rate: -0.216110 deg/s, cmd heading: 251.114910 deg, new cmd heading: 250.938574 deg. 2025-09-20T19:32:03.314Z,1758396723.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379704 target range: 131.079575 and range: 131.60 m. 2025-09-20T19:32:03.419Z,1758396723.419 [DAT](INFO): DAT read: 19:32:05.0868 LVL= 31600, 32753, 23986, 29843, AGC= 57, IDX= 418, 0.23,-2.396,-2.535,-0.398,-1.614, PHS=-0.680,-0.875, 1.172, RAW= 205.0, 4.0, CAL= 204.9, 2.9, ROT= 305.1, -2.9 2025-09-20T19:32:03.421Z,1758396723.421 [DAT](INFO): got valid direction response: 19:32:05.0868 LVL= 31600, 32753, 23986, 29843, AGC= 57, IDX= 418, 0.23,-2.396,-2.535,-0.398,-1.614, PHS=-0.680,-0.875, 1.172, RAW= 205.0, 4.0, CAL= 204.9, 2.9, ROT= 305.1, -2.9 2025-09-20T19:32:03.422Z,1758396723.422 [DAT](INFO): DAT read: Bearing 112.5, -43.3 (Local) 2025-09-20T19:32:03.423Z,1758396723.423 [DAT](INFO): Local bearing/azimuth received: Bearing 112.5, -43.3 (Local) 2025-09-20T19:32:03.430Z,1758396723.430 [DAT](INFO): DAT read: Range 11 to 50 : 130.5 m (Round-trip 174.0 ms) speed 0.3 m/s 2025-09-20T19:32:03.440Z,1758396723.440 [DAT](INFO): DAT read: user:39>Tx time:19:32:06.1586 2025-09-20T19:32:03.442Z,1758396723.442 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:03.443Z,1758396723.443 [DAT](INFO): direction in FSK: [0.574269,-0.817102,0.050593] 2025-09-20T19:32:03.452Z,1758396723.452 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:03.465Z,1758396723.465 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:03.466Z,1758396723.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:03.620Z,1758396723.620 [DAT](INFO): DAT read: 2025-09-20T19:32:03.620Z,1758396723.620 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:03.713Z,1758396723.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 3.529761 s, deltaX: -1.100006 m, approachRate: -0.311638 m/s, rangeRepo size: 4 2025-09-20T19:32:03.719Z,1758396723.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.973221 m, bearing: 255.150854 deg, lat: 36.779343 deg, lon: -121.859592 deg, deltaT: 3.529761 s, deltaX: -1.106354 m, approachRate: -0.313436 m/s, posRepo size: 4 2025-09-20T19:32:03.720Z,1758396723.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:03.725Z,1758396723.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 127.621628 m, bearing: 259.350074 deg, approach rate: 0.000000 m/s, LOS rate: -0.216110 deg/s, cmd heading: 250.938582 deg, new cmd heading: 250.764734 deg. 2025-09-20T19:32:03.726Z,1758396723.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376670 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:03.868Z,1758396723.868 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:04.090Z,1758396724.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:04.092Z,1758396724.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:04.094Z,1758396724.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 127.466187 m, bearing: 259.267125 deg, approach rate: -0.409240 m/s, LOS rate: -0.218651 deg/s, cmd heading: 250.764740 deg, new cmd heading: 250.598641 deg. 2025-09-20T19:32:04.096Z,1758396724.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373771 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:04.120Z,1758396724.120 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:04.372Z,1758396724.372 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:04.519Z,1758396724.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:04.522Z,1758396724.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 127.295387 m, bearing: 259.178657 deg, approach rate: -0.400026 m/s, LOS rate: -0.207478 deg/s, cmd heading: 250.598630 deg, new cmd heading: 250.421457 deg. 2025-09-20T19:32:04.523Z,1758396724.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370679 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:04.624Z,1758396724.624 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:04.876Z,1758396724.876 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:04.912Z,1758396724.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:04.914Z,1758396724.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 127.135765 m, bearing: 259.098348 deg, approach rate: -0.406513 m/s, LOS rate: -0.204781 deg/s, cmd heading: 250.421455 deg, new cmd heading: 250.260636 deg. 2025-09-20T19:32:04.915Z,1758396724.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367872 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:05.011Z,1758396725.011 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:32:05.129Z,1758396725.129 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:05.302Z,1758396725.302 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -0, +36,A 2025-09-20T19:32:05.318Z,1758396725.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:05.341Z,1758396725.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 126.968002 m, bearing: 259.016459 deg, approach rate: -0.412760 m/s, LOS rate: -0.201744 deg/s, cmd heading: 250.260645 deg, new cmd heading: 250.096651 deg. 2025-09-20T19:32:05.342Z,1758396725.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365010 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:05.381Z,1758396725.381 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:05.632Z,1758396725.632 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:05.728Z,1758396725.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:05.730Z,1758396725.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 126.798988 m, bearing: 258.933616 deg, approach rate: -0.413514 m/s, LOS rate: -0.202957 deg/s, cmd heading: 250.096638 deg, new cmd heading: 249.930731 deg. 2025-09-20T19:32:05.732Z,1758396725.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362114 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:05.884Z,1758396725.884 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:06.015Z,1758396726.015 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:32:06.132Z,1758396726.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:06.134Z,1758396726.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:06.136Z,1758396726.136 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:06.141Z,1758396726.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 126.635124 m, bearing: 258.858207 deg, approach rate: -0.402188 m/s, LOS rate: -0.185323 deg/s, cmd heading: 249.930719 deg, new cmd heading: 249.779707 deg. 2025-09-20T19:32:06.142Z,1758396726.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359478 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:06.388Z,1758396726.388 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:06.541Z,1758396726.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:06.544Z,1758396726.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 126.446510 m, bearing: 258.773175 deg, approach rate: -0.463335 m/s, LOS rate: -0.209194 deg/s, cmd heading: 249.779717 deg, new cmd heading: 249.609401 deg. 2025-09-20T19:32:06.545Z,1758396726.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356506 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:06.641Z,1758396726.641 [DAT](INFO): DAT read: Rx Time:19:32:08.7350 2025-09-20T19:32:06.642Z,1758396726.642 [DAT](INFO): Rx dataTimestamp_ set to:1758396726.641527 2025-09-20T19:32:06.642Z,1758396726.642 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:06.892Z,1758396726.892 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:06.925Z,1758396726.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.97 m. 2025-09-20T19:32:06.930Z,1758396726.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.973221 m, nav range: 126.277344 m, bearing: 258.699211 deg, approach rate: -0.441220 m/s, LOS rate: -0.193173 deg/s, cmd heading: 249.609400 deg, new cmd heading: 249.461273 deg. 2025-09-20T19:32:06.952Z,1758396726.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353920 target range: 129.973221 and range: 130.50 m. 2025-09-20T19:32:07.150Z,1758396727.150 [DAT](INFO): DAT read: 19:32:08.7350 LVL= 29552, 32753, 20354, 32755, AGC= 60, IDX= 416, 0.39,-2.550,-3.133,-0.847,-1.980, PHS=-0.468,-1.108, 1.089, RAW= 193.5, 5.0, CAL= 193.7, 3.6, ROT= 316.3, -3.6 2025-09-20T19:32:07.151Z,1758396727.151 [DAT](INFO): got valid direction response: 19:32:08.7350 LVL= 29552, 32753, 20354, 32755, AGC= 60, IDX= 416, 0.39,-2.550,-3.133,-0.847,-1.980, PHS=-0.468,-1.108, 1.089, RAW= 193.5, 5.0, CAL= 193.7, 3.6, ROT= 316.3, -3.6 2025-09-20T19:32:07.154Z,1758396727.154 [DAT](INFO): DAT read: Bearing 105.4, -31.9 (Local) 2025-09-20T19:32:07.156Z,1758396727.156 [DAT](INFO): Local bearing/azimuth received: Bearing 105.4, -31.9 (Local) 2025-09-20T19:32:07.158Z,1758396727.158 [DAT](INFO): DAT read: Range 11 to 50 : 129.1 m (Round-trip 172.2 ms) speed 0.4 m/s 2025-09-20T19:32:07.168Z,1758396727.168 [DAT](INFO): DAT read: user:40>Tx time:19:32:09.8086 2025-09-20T19:32:07.170Z,1758396727.170 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:07.173Z,1758396727.173 [DAT](INFO): direction in FSK: [0.721540,-0.689519,0.062791] 2025-09-20T19:32:07.174Z,1758396727.174 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:07.243Z,1758396727.243 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:07.244Z,1758396727.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:07.369Z,1758396727.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.100006 m, deltaT: 3.778228 s, deltaX: -1.399994 m, approachRate: -0.370542 m/s, rangeRepo size: 4 2025-09-20T19:32:07.372Z,1758396727.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.571167 m, bearing: 258.803048 deg, lat: 36.779350 deg, lon: -121.859583 deg, deltaT: 3.778228 s, deltaX: -1.402054 m, approachRate: -0.371088 m/s, posRepo size: 4 2025-09-20T19:32:07.372Z,1758396727.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:07.375Z,1758396727.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 125.101128 m, bearing: 258.886974 deg, approach rate: 0.000000 m/s, LOS rate: -0.193173 deg/s, cmd heading: 249.461267 deg, new cmd heading: 249.289667 deg. 2025-09-20T19:32:07.376Z,1758396727.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350925 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:07.396Z,1758396727.396 [DAT](INFO): DAT read: 2025-09-20T19:32:07.396Z,1758396727.396 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:07.648Z,1758396727.648 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:07.740Z,1758396727.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:07.747Z,1758396727.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 124.933250 m, bearing: 258.818533 deg, approach rate: -0.452124 m/s, LOS rate: -0.184573 deg/s, cmd heading: 249.289665 deg, new cmd heading: 249.152599 deg. 2025-09-20T19:32:07.748Z,1758396727.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348533 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:07.900Z,1758396727.900 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:08.134Z,1758396728.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:08.137Z,1758396728.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:08.143Z,1758396728.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 124.740860 m, bearing: 258.742545 deg, approach rate: -0.484773 m/s, LOS rate: -0.191764 deg/s, cmd heading: 249.152597 deg, new cmd heading: 249.000388 deg. 2025-09-20T19:32:08.144Z,1758396728.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345877 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:08.152Z,1758396728.152 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:08.405Z,1758396728.405 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:08.584Z,1758396728.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:08.586Z,1758396728.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 124.529099 m, bearing: 258.659014 deg, approach rate: -0.473842 m/s, LOS rate: -0.187230 deg/s, cmd heading: 249.000393 deg, new cmd heading: 248.833046 deg. 2025-09-20T19:32:08.588Z,1758396728.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342956 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:08.656Z,1758396728.656 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:08.908Z,1758396728.908 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:08.969Z,1758396728.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:08.972Z,1758396728.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 124.341293 m, bearing: 258.589728 deg, approach rate: -0.487768 m/s, LOS rate: -0.180222 deg/s, cmd heading: 248.833053 deg, new cmd heading: 248.694272 deg. 2025-09-20T19:32:08.973Z,1758396728.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340534 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:09.160Z,1758396729.160 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:09.369Z,1758396729.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:09.372Z,1758396729.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 124.140778 m, bearing: 258.518716 deg, approach rate: -0.501489 m/s, LOS rate: -0.177888 deg/s, cmd heading: 248.694264 deg, new cmd heading: 248.552011 deg. 2025-09-20T19:32:09.373Z,1758396729.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338051 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:09.412Z,1758396729.412 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:09.664Z,1758396729.664 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:09.761Z,1758396729.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:09.764Z,1758396729.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 123.941246 m, bearing: 258.450397 deg, approach rate: -0.508082 m/s, LOS rate: -0.174244 deg/s, cmd heading: 248.552005 deg, new cmd heading: 248.415148 deg. 2025-09-20T19:32:09.765Z,1758396729.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335662 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:09.917Z,1758396729.917 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:10.158Z,1758396730.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:10.160Z,1758396730.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:10.175Z,1758396730.175 [DAT](INFO): DAT read: Rx Time:19:32:12.3828 2025-09-20T19:32:10.175Z,1758396730.175 [DAT](INFO): Rx dataTimestamp_ set to:1758396730.175215 2025-09-20T19:32:10.176Z,1758396730.176 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:10.187Z,1758396730.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 123.738930 m, bearing: 258.380838 deg, approach rate: -0.507052 m/s, LOS rate: -0.174617 deg/s, cmd heading: 248.415155 deg, new cmd heading: 248.275809 deg. 2025-09-20T19:32:10.188Z,1758396730.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333230 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:10.429Z,1758396730.429 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:10.582Z,1758396730.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.57 m. 2025-09-20T19:32:10.585Z,1758396730.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.571167 m, nav range: 123.521469 m, bearing: 258.310778 deg, approach rate: -0.515631 m/s, LOS rate: -0.166414 deg/s, cmd heading: 248.275819 deg, new cmd heading: 248.135453 deg. 2025-09-20T19:32:10.586Z,1758396730.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330781 target range: 128.571167 and range: 129.10 m. 2025-09-20T19:32:10.686Z,1758396730.686 [DAT](INFO): DAT read: 19:32:12.3828 LVL= 31296, 32753, 21874, 32019, AGC= 57, IDX= 425, 0.33,-0.511,-1.309, 1.004,-0.142, PHS=-0.267,-1.122, 1.103, RAW= 187.6, 3.0, CAL= 187.7, 0.0, ROT= 322.3, -0.0 2025-09-20T19:32:10.688Z,1758396730.688 [DAT](INFO): got valid direction response: 19:32:12.3828 LVL= 31296, 32753, 21874, 32019, AGC= 57, IDX= 425, 0.33,-0.511,-1.309, 1.004,-0.142, PHS=-0.267,-1.122, 1.103, RAW= 187.6, 3.0, CAL= 187.7, 0.0, ROT= 322.3, -0.0 2025-09-20T19:32:10.689Z,1758396730.689 [DAT](INFO): DAT read: Bearing 92.2, -25.5 (Local) 2025-09-20T19:32:10.689Z,1758396730.689 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, -25.5 (Local) 2025-09-20T19:32:10.690Z,1758396730.690 [DAT](INFO): DAT read: Range 11 to 50 : 127.5 m (Round-trip 170.0 ms) speed 0.4 m/s 2025-09-20T19:32:10.692Z,1758396730.692 [DAT](INFO): DAT read: user:41>Tx time:19:32:13.4586 2025-09-20T19:32:10.692Z,1758396730.692 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:10.693Z,1758396730.693 [DAT](INFO): direction in FSK: [0.791223,-0.611527,0.000000] 2025-09-20T19:32:10.693Z,1758396730.693 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:10.697Z,1758396730.697 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:10.697Z,1758396730.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:10.933Z,1758396730.933 [DAT](INFO): DAT read: 2025-09-20T19:32:10.934Z,1758396730.934 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:10.985Z,1758396730.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.536280 s, deltaX: -1.600006 m, approachRate: -0.452455 m/s, rangeRepo size: 4 2025-09-20T19:32:10.991Z,1758396730.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.972565 m, bearing: 254.998180 deg, lat: 36.779304 deg, lon: -121.859572 deg, deltaT: 3.536280 s, deltaX: -1.598602 m, approachRate: -0.452058 m/s, posRepo size: 4 2025-09-20T19:32:10.992Z,1758396730.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:10.994Z,1758396730.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 123.554070 m, bearing: 255.833686 deg, approach rate: 0.000000 m/s, LOS rate: -0.166414 deg/s, cmd heading: 248.135445 deg, new cmd heading: 248.001636 deg. 2025-09-20T19:32:10.997Z,1758396730.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328445 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:11.184Z,1758396731.184 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:11.398Z,1758396731.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:11.401Z,1758396731.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 123.341637 m, bearing: 255.759299 deg, approach rate: -0.513283 m/s, LOS rate: -0.180045 deg/s, cmd heading: 248.001628 deg, new cmd heading: 247.852598 deg. 2025-09-20T19:32:11.402Z,1758396731.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325844 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:11.437Z,1758396731.437 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:11.688Z,1758396731.688 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:11.776Z,1758396731.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:11.784Z,1758396731.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 123.154663 m, bearing: 255.698320 deg, approach rate: -0.506723 m/s, LOS rate: -0.165510 deg/s, cmd heading: 247.852593 deg, new cmd heading: 247.730452 deg. 2025-09-20T19:32:11.786Z,1758396731.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323712 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:11.941Z,1758396731.941 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:12.185Z,1758396732.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:12.190Z,1758396732.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:12.192Z,1758396732.192 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:12.194Z,1758396732.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 122.942482 m, bearing: 255.628842 deg, approach rate: -0.505058 m/s, LOS rate: -0.165667 deg/s, cmd heading: 247.730442 deg, new cmd heading: 247.591245 deg. 2025-09-20T19:32:12.195Z,1758396732.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321282 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:12.444Z,1758396732.444 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:12.613Z,1758396732.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:12.616Z,1758396732.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 122.724068 m, bearing: 255.559356 deg, approach rate: -0.512611 m/s, LOS rate: -0.163371 deg/s, cmd heading: 247.591243 deg, new cmd heading: 247.452024 deg. 2025-09-20T19:32:12.617Z,1758396732.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318852 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:12.697Z,1758396732.697 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:12.948Z,1758396732.948 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:12.985Z,1758396732.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:12.988Z,1758396732.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 122.531502 m, bearing: 255.500115 deg, approach rate: -0.518103 m/s, LOS rate: -0.159641 deg/s, cmd heading: 247.452016 deg, new cmd heading: 247.333347 deg. 2025-09-20T19:32:12.989Z,1758396732.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316781 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:13.200Z,1758396733.200 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:13.422Z,1758396733.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:13.427Z,1758396733.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 122.308723 m, bearing: 255.434850 deg, approach rate: -0.510369 m/s, LOS rate: -0.149790 deg/s, cmd heading: 247.333335 deg, new cmd heading: 247.202568 deg. 2025-09-20T19:32:13.429Z,1758396733.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314499 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:13.452Z,1758396733.452 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:13.704Z,1758396733.704 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:13.810Z,1758396733.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:13.833Z,1758396733.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 122.101830 m, bearing: 255.376334 deg, approach rate: -0.532371 m/s, LOS rate: -0.150825 deg/s, cmd heading: 247.202578 deg, new cmd heading: 247.085348 deg. 2025-09-20T19:32:13.834Z,1758396733.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312453 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:13.956Z,1758396733.956 [DAT](INFO): DAT read: Rx Time:19:32:16.0302 2025-09-20T19:32:13.957Z,1758396733.957 [DAT](INFO): Rx dataTimestamp_ set to:1758396733.956907 2025-09-20T19:32:13.958Z,1758396733.958 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:14.201Z,1758396734.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:14.206Z,1758396734.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.97 m. 2025-09-20T19:32:14.208Z,1758396734.208 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:14.210Z,1758396734.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.972565 m, nav range: 121.891045 m, bearing: 255.318790 deg, approach rate: -0.536196 m/s, LOS rate: -0.146633 deg/s, cmd heading: 247.085344 deg, new cmd heading: 246.970058 deg. 2025-09-20T19:32:14.212Z,1758396734.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310441 target range: 126.972565 and range: 127.50 m. 2025-09-20T19:32:14.466Z,1758396734.466 [DAT](INFO): DAT read: 19:32:16.0302 LVL= 25536, 32753, 19426, 32755, AGC= 58, IDX= 415, 0.06, 2.691, 1.657,-2.364, 2.912, PHS=-0.119,-1.210, 0.963, RAW= 179.9, 3.9, CAL= 179.5, 1.8, ROT= 330.5, -1.8 2025-09-20T19:32:14.467Z,1758396734.467 [DAT](INFO): got valid direction response: 19:32:16.0302 LVL= 25536, 32753, 19426, 32755, AGC= 58, IDX= 415, 0.06, 2.691, 1.657,-2.364, 2.912, PHS=-0.119,-1.210, 0.963, RAW= 179.9, 3.9, CAL= 179.5, 1.8, ROT= 330.5, -1.8 2025-09-20T19:32:14.468Z,1758396734.468 [DAT](INFO): DAT read: Bearing 85.3, -17.4 (Local) 2025-09-20T19:32:14.468Z,1758396734.468 [DAT](INFO): Local bearing/azimuth received: Bearing 85.3, -17.4 (Local) 2025-09-20T19:32:14.470Z,1758396734.470 [DAT](INFO): DAT read: Range 11 to 50 : 125.5 m (Round-trip 167.4 ms) speed 0.4 m/s 2025-09-20T19:32:14.472Z,1758396734.472 [DAT](INFO): DAT read: user:42>Tx time:19:32:17.1086 2025-09-20T19:32:14.473Z,1758396734.473 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:14.474Z,1758396734.474 [DAT](INFO): direction in FSK: [0.869926,-0.492180,0.031411] 2025-09-20T19:32:14.474Z,1758396734.474 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:14.478Z,1758396734.478 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:14.478Z,1758396734.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:14.672Z,1758396734.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.500000 m, deltaT: 3.779780 s, deltaX: -2.000000 m, approachRate: -0.529131 m/s, rangeRepo size: 4 2025-09-20T19:32:14.674Z,1758396734.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.980705 m, bearing: 254.278631 deg, lat: 36.779288 deg, lon: -121.859572 deg, deltaT: 3.779780 s, deltaX: -1.991859 m, approachRate: -0.526978 m/s, posRepo size: 4 2025-09-20T19:32:14.674Z,1758396734.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:14.681Z,1758396734.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 122.088661 m, bearing: 254.449867 deg, approach rate: 0.000000 m/s, LOS rate: -0.146633 deg/s, cmd heading: 246.970051 deg, new cmd heading: 246.834186 deg. 2025-09-20T19:32:14.682Z,1758396734.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308069 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:14.712Z,1758396734.712 [DAT](INFO): DAT read: 2025-09-20T19:32:14.713Z,1758396734.713 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:14.964Z,1758396734.964 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:15.010Z,1758396735.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:15.013Z,1758396735.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 121.894485 m, bearing: 254.397273 deg, approach rate: -0.564530 m/s, LOS rate: -0.153149 deg/s, cmd heading: 246.834185 deg, new cmd heading: 246.728830 deg. 2025-09-20T19:32:15.014Z,1758396735.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306231 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:15.216Z,1758396735.216 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:15.450Z,1758396735.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:15.468Z,1758396735.468 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:15.470Z,1758396735.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 121.661942 m, bearing: 254.337006 deg, approach rate: -0.528904 m/s, LOS rate: -0.137335 deg/s, cmd heading: 246.728836 deg, new cmd heading: 246.608071 deg. 2025-09-20T19:32:15.475Z,1758396735.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304123 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:15.720Z,1758396735.720 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:15.840Z,1758396735.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:15.842Z,1758396735.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 121.461884 m, bearing: 254.287106 deg, approach rate: -0.513236 m/s, LOS rate: -0.128228 deg/s, cmd heading: 246.608078 deg, new cmd heading: 246.508113 deg. 2025-09-20T19:32:15.848Z,1758396735.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302378 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:15.973Z,1758396735.973 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:16.222Z,1758396736.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:16.224Z,1758396736.224 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:16.226Z,1758396736.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:16.229Z,1758396736.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 121.247932 m, bearing: 254.235725 deg, approach rate: -0.554548 m/s, LOS rate: -0.133410 deg/s, cmd heading: 246.508111 deg, new cmd heading: 246.405169 deg. 2025-09-20T19:32:16.229Z,1758396736.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300581 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:16.476Z,1758396736.476 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:16.651Z,1758396736.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:16.654Z,1758396736.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 121.015518 m, bearing: 254.180455 deg, approach rate: -0.546466 m/s, LOS rate: -0.130203 deg/s, cmd heading: 246.405167 deg, new cmd heading: 246.294415 deg. 2025-09-20T19:32:16.655Z,1758396736.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298648 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:16.728Z,1758396736.728 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:16.980Z,1758396736.980 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:17.029Z,1758396737.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:17.033Z,1758396737.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 120.809242 m, bearing: 254.133389 deg, approach rate: -0.545157 m/s, LOS rate: -0.124602 deg/s, cmd heading: 246.294408 deg, new cmd heading: 246.200115 deg. 2025-09-20T19:32:17.034Z,1758396737.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297003 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:17.232Z,1758396737.232 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:17.465Z,1758396737.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:17.472Z,1758396737.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 120.570618 m, bearing: 254.079350 deg, approach rate: -0.548122 m/s, LOS rate: -0.124373 deg/s, cmd heading: 246.200125 deg, new cmd heading: 246.091833 deg. 2025-09-20T19:32:17.473Z,1758396737.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295113 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:17.484Z,1758396737.484 [DAT](INFO): DAT read: Rx Time:19:32:19.6777 2025-09-20T19:32:17.484Z,1758396737.484 [DAT](INFO): Rx dataTimestamp_ set to:1758396737.484100 2025-09-20T19:32:17.485Z,1758396737.485 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:17.736Z,1758396737.736 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:17.836Z,1758396737.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.98 m. 2025-09-20T19:32:17.839Z,1758396737.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.980705 m, nav range: 120.365318 m, bearing: 254.034731 deg, approach rate: -0.552639 m/s, LOS rate: -0.120313 deg/s, cmd heading: 246.091825 deg, new cmd heading: 246.002435 deg. 2025-09-20T19:32:17.840Z,1758396737.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293552 target range: 124.980705 and range: 125.50 m. 2025-09-20T19:32:17.994Z,1758396737.994 [DAT](INFO): DAT read: 19:32:19.6777 LVL= 32752, 32753, 23298, 32755, AGC= 57, IDX= 421,-0.03,-1.027,-2.309,-0.230,-0.935, PHS= 0.010,-1.329, 0.661, RAW= 168.7, 7.6, CAL= 168.3, 7.5, ROT= 341.7, -7.5 2025-09-20T19:32:17.995Z,1758396737.995 [DAT](INFO): got valid direction response: 19:32:19.6777 LVL= 32752, 32753, 23298, 32755, AGC= 57, IDX= 421,-0.03,-1.027,-2.309,-0.230,-0.935, PHS= 0.010,-1.329, 0.661, RAW= 168.7, 7.6, CAL= 168.3, 7.5, ROT= 341.7, -7.5 2025-09-20T19:32:17.996Z,1758396737.996 [DAT](INFO): DAT read: Bearing 82.8, -6.6 (Local) 2025-09-20T19:32:17.996Z,1758396737.996 [DAT](INFO): Local bearing/azimuth received: Bearing 82.8, -6.6 (Local) 2025-09-20T19:32:17.998Z,1758396737.998 [DAT](INFO): DAT read: Range 11 to 50 : 123.6 m (Round-trip 164.9 ms) speed 0.4 m/s 2025-09-20T19:32:17.999Z,1758396737.999 [DAT](INFO): DAT read: user:43>Tx time:19:32:20.7586 2025-09-20T19:32:17.999Z,1758396737.999 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:18.000Z,1758396738.000 [DAT](INFO): direction in FSK: [0.941303,-0.311306,0.130526] 2025-09-20T19:32:18.001Z,1758396738.001 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:18.004Z,1758396738.004 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:18.005Z,1758396738.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:18.240Z,1758396738.240 [DAT](INFO): DAT read: 2025-09-20T19:32:18.240Z,1758396738.240 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:18.252Z,1758396738.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.599998 m, deltaT: 3.527934 s, deltaX: -1.900002 m, approachRate: -0.538559 m/s, rangeRepo size: 4 2025-09-20T19:32:18.254Z,1758396738.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.084343 m, bearing: 256.786628 deg, lat: 36.779288 deg, lon: -121.859558 deg, deltaT: 3.527934 s, deltaX: -1.896362 m, approachRate: -0.537528 m/s, posRepo size: 4 2025-09-20T19:32:18.255Z,1758396738.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:18.257Z,1758396738.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 118.949921 m, bearing: 253.823287 deg, approach rate: 0.000000 m/s, LOS rate: -0.120313 deg/s, cmd heading: 246.002432 deg, new cmd heading: 245.902716 deg. 2025-09-20T19:32:18.258Z,1758396738.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291812 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:18.492Z,1758396738.492 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:18.661Z,1758396738.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:18.663Z,1758396738.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:18.666Z,1758396738.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 118.718452 m, bearing: 253.775559 deg, approach rate: -0.561616 m/s, LOS rate: -0.116028 deg/s, cmd heading: 245.902711 deg, new cmd heading: 245.807069 deg. 2025-09-20T19:32:18.667Z,1758396738.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290143 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:18.744Z,1758396738.744 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:18.996Z,1758396738.996 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:19.055Z,1758396739.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:19.058Z,1758396739.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 118.500877 m, bearing: 253.732684 deg, approach rate: -0.555190 m/s, LOS rate: -0.109604 deg/s, cmd heading: 245.807061 deg, new cmd heading: 245.721155 deg. 2025-09-20T19:32:19.058Z,1758396739.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288643 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:19.248Z,1758396739.248 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:19.494Z,1758396739.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:19.496Z,1758396739.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 118.257736 m, bearing: 253.682813 deg, approach rate: -0.554144 m/s, LOS rate: -0.113895 deg/s, cmd heading: 245.721164 deg, new cmd heading: 245.621217 deg. 2025-09-20T19:32:19.497Z,1758396739.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286899 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:19.515Z,1758396739.515 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:19.752Z,1758396739.752 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:19.873Z,1758396739.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:19.876Z,1758396739.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 118.054047 m, bearing: 253.644947 deg, approach rate: -0.536857 m/s, LOS rate: -0.099975 deg/s, cmd heading: 245.621225 deg, new cmd heading: 245.545362 deg. 2025-09-20T19:32:19.877Z,1758396739.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285575 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:20.004Z,1758396740.004 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:20.256Z,1758396740.256 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:20.260Z,1758396740.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:20.263Z,1758396740.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 117.828308 m, bearing: 253.605035 deg, approach rate: -0.583123 m/s, LOS rate: -0.103296 deg/s, cmd heading: 245.545355 deg, new cmd heading: 245.465379 deg. 2025-09-20T19:32:20.264Z,1758396740.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284179 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:20.508Z,1758396740.508 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:20.685Z,1758396740.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:20.687Z,1758396740.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:20.690Z,1758396740.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 117.582817 m, bearing: 253.565595 deg, approach rate: -0.575011 m/s, LOS rate: -0.092573 deg/s, cmd heading: 245.465387 deg, new cmd heading: 245.386343 deg. 2025-09-20T19:32:20.691Z,1758396740.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282800 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:20.760Z,1758396740.760 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:21.012Z,1758396741.012 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:21.092Z,1758396741.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:21.095Z,1758396741.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 117.357239 m, bearing: 253.529202 deg, approach rate: -0.556239 m/s, LOS rate: -0.089913 deg/s, cmd heading: 245.386348 deg, new cmd heading: 245.313421 deg. 2025-09-20T19:32:21.096Z,1758396741.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281527 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:21.264Z,1758396741.264 [DAT](INFO): DAT read: Rx Time:19:32:23.3250 2025-09-20T19:32:21.265Z,1758396741.265 [DAT](INFO): Rx dataTimestamp_ set to:1758396741.264320 2025-09-20T19:32:21.265Z,1758396741.265 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:21.513Z,1758396741.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.08 m. 2025-09-20T19:32:21.516Z,1758396741.516 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:21.520Z,1758396741.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.084343 m, nav range: 117.119942 m, bearing: 253.495525 deg, approach rate: -0.563978 m/s, LOS rate: -0.080201 deg/s, cmd heading: 245.313429 deg, new cmd heading: 245.245939 deg. 2025-09-20T19:32:21.521Z,1758396741.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280349 target range: 123.084343 and range: 123.60 m. 2025-09-20T19:32:21.776Z,1758396741.776 [DAT](INFO): DAT read: 19:32:23.3250 LVL= 28560, 32753, 24306, 32755, AGC= 63, IDX= 409,-0.20,-1.346,-2.825,-0.810,-1.421, PHS= 0.177,-1.359, 0.566, RAW= 161.0, 7.0, CAL= 160.5, 6.9, ROT= 349.5, -6.9 2025-09-20T19:32:21.777Z,1758396741.777 [DAT](INFO): got valid direction response: 19:32:23.3250 LVL= 28560, 32753, 24306, 32755, AGC= 63, IDX= 409,-0.20,-1.346,-2.825,-0.810,-1.421, PHS= 0.177,-1.359, 0.566, RAW= 161.0, 7.0, CAL= 160.5, 6.9, ROT= 349.5, -6.9 2025-09-20T19:32:21.779Z,1758396741.779 [DAT](INFO): DAT read: Bearing 73.2, 1.2 (Local) 2025-09-20T19:32:21.780Z,1758396741.780 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, 1.2 (Local) 2025-09-20T19:32:21.782Z,1758396741.782 [DAT](INFO): DAT read: Range 11 to 50 : 121.6 m (Round-trip 162.2 ms) speed 0.5 m/s 2025-09-20T19:32:21.783Z,1758396741.783 [DAT](INFO): DAT read: user:44>Tx time:19:32:24.4086 2025-09-20T19:32:21.784Z,1758396741.784 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:21.785Z,1758396741.785 [DAT](INFO): direction in FSK: [0.976133,-0.180916,0.120137] 2025-09-20T19:32:21.786Z,1758396741.786 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:21.792Z,1758396741.792 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:21.793Z,1758396741.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:21.957Z,1758396741.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.599998 m, deltaT: 3.780197 s, deltaX: -2.000000 m, approachRate: -0.529073 m/s, rangeRepo size: 4 2025-09-20T19:32:21.963Z,1758396741.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.082741 m, bearing: 255.864296 deg, lat: 36.779337 deg, lon: -121.859557 deg, deltaT: 3.780197 s, deltaX: -2.001602 m, approachRate: -0.529497 m/s, posRepo size: 4 2025-09-20T19:32:21.964Z,1758396741.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:21.966Z,1758396741.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 115.336433 m, bearing: 256.029574 deg, approach rate: 0.000000 m/s, LOS rate: -0.080201 deg/s, cmd heading: 245.245947 deg, new cmd heading: 245.174917 deg. 2025-09-20T19:32:21.971Z,1758396741.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279109 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:22.020Z,1758396742.020 [DAT](INFO): DAT read: 2025-09-20T19:32:22.020Z,1758396742.020 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:22.272Z,1758396742.272 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:22.323Z,1758396742.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:22.326Z,1758396742.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 115.121902 m, bearing: 256.007485 deg, approach rate: -0.584806 m/s, LOS rate: -0.060326 deg/s, cmd heading: 245.174913 deg, new cmd heading: 245.130653 deg. 2025-09-20T19:32:22.331Z,1758396742.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278337 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:22.524Z,1758396742.524 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:22.743Z,1758396742.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:22.745Z,1758396742.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:22.768Z,1758396742.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 114.865997 m, bearing: 255.982446 deg, approach rate: -0.606257 m/s, LOS rate: -0.059451 deg/s, cmd heading: 245.130654 deg, new cmd heading: 245.080464 deg. 2025-09-20T19:32:22.769Z,1758396742.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277461 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:22.776Z,1758396742.776 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:23.028Z,1758396743.028 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:23.122Z,1758396743.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:23.141Z,1758396743.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 114.643646 m, bearing: 255.964505 deg, approach rate: -0.589125 m/s, LOS rate: -0.047628 deg/s, cmd heading: 245.080465 deg, new cmd heading: 245.044513 deg. 2025-09-20T19:32:23.142Z,1758396743.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276834 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:23.280Z,1758396743.280 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:23.532Z,1758396743.532 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:23.564Z,1758396743.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:23.566Z,1758396743.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 114.385620 m, bearing: 255.946742 deg, approach rate: -0.584481 m/s, LOS rate: -0.040328 deg/s, cmd heading: 245.044511 deg, new cmd heading: 245.008905 deg. 2025-09-20T19:32:23.572Z,1758396743.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276212 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:23.784Z,1758396743.784 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:23.937Z,1758396743.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:23.940Z,1758396743.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 114.148682 m, bearing: 255.932476 deg, approach rate: -0.635118 m/s, LOS rate: -0.038320 deg/s, cmd heading: 245.008912 deg, new cmd heading: 244.980320 deg. 2025-09-20T19:32:23.941Z,1758396743.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275713 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:24.036Z,1758396744.036 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:24.288Z,1758396744.288 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:24.327Z,1758396744.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:24.330Z,1758396744.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 113.910812 m, bearing: 255.920229 deg, approach rate: -0.609904 m/s, LOS rate: -0.031466 deg/s, cmd heading: 244.980307 deg, new cmd heading: 244.955763 deg. 2025-09-20T19:32:24.331Z,1758396744.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275285 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:24.540Z,1758396744.540 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:24.764Z,1758396744.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:24.766Z,1758396744.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:24.769Z,1758396744.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 113.641983 m, bearing: 255.905389 deg, approach rate: -0.612012 m/s, LOS rate: -0.033863 deg/s, cmd heading: 244.955773 deg, new cmd heading: 244.926024 deg. 2025-09-20T19:32:24.770Z,1758396744.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274765 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:24.794Z,1758396744.794 [DAT](INFO): DAT read: Rx Time:19:32:26.9718 2025-09-20T19:32:24.794Z,1758396744.794 [DAT](INFO): Rx dataTimestamp_ set to:1758396744.794028 2025-09-20T19:32:24.795Z,1758396744.795 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:25.044Z,1758396745.044 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:25.135Z,1758396745.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.08 m. 2025-09-20T19:32:25.138Z,1758396745.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.082741 m, nav range: 113.415146 m, bearing: 255.896794 deg, approach rate: -0.615480 m/s, LOS rate: -0.023369 deg/s, cmd heading: 244.926021 deg, new cmd heading: 244.908796 deg. 2025-09-20T19:32:25.139Z,1758396745.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274465 target range: 121.082741 and range: 121.60 m. 2025-09-20T19:32:25.302Z,1758396745.302 [DAT](INFO): DAT read: 19:32:26.9718 LVL= 29008, 32753, 30290, 32755, AGC= 65, IDX= 410,-0.36, 0.331,-1.401, 0.623, 0.110, PHS= 0.322,-1.466, 0.468, RAW= 153.9, 7.3, CAL= 153.3, 7.6, ROT= 356.7, -7.6 2025-09-20T19:32:25.303Z,1758396745.303 [DAT](INFO): got valid direction response: 19:32:26.9718 LVL= 29008, 32753, 30290, 32755, AGC= 65, IDX= 410,-0.36, 0.331,-1.401, 0.623, 0.110, PHS= 0.322,-1.466, 0.468, RAW= 153.9, 7.3, CAL= 153.3, 7.6, ROT= 356.7, -7.6 2025-09-20T19:32:25.307Z,1758396745.307 [DAT](INFO): DAT read: Bearing 65.1, 8.2 (Local) 2025-09-20T19:32:25.308Z,1758396745.308 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, 8.2 (Local) 2025-09-20T19:32:25.310Z,1758396745.310 [DAT](INFO): DAT read: Range 11 to 50 : 119.2 m (Round-trip 159.0 ms) speed 0.6 m/s 2025-09-20T19:32:25.312Z,1758396745.312 [DAT](INFO): DAT read: user:45>Tx time:19:32:28.0586 2025-09-20T19:32:25.313Z,1758396745.313 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:25.314Z,1758396745.314 [DAT](INFO): direction in FSK: [0.989572,-0.057058,0.132256] 2025-09-20T19:32:25.314Z,1758396745.314 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:25.336Z,1758396745.336 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:25.336Z,1758396745.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:25.548Z,1758396745.548 [DAT](INFO): DAT read: 2025-09-20T19:32:25.548Z,1758396745.548 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:25.573Z,1758396745.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.199997 m, deltaT: 3.527794 s, deltaX: -2.400002 m, approachRate: -0.680312 m/s, rangeRepo size: 4 2025-09-20T19:32:25.575Z,1758396745.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.688255 m, bearing: 254.584860 deg, lat: 36.779318 deg, lon: -121.859541 deg, deltaT: 3.527794 s, deltaX: -2.394485 m, approachRate: -0.678749 m/s, posRepo size: 4 2025-09-20T19:32:25.576Z,1758396745.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:25.579Z,1758396745.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 112.360268 m, bearing: 254.684576 deg, approach rate: 0.000000 m/s, LOS rate: -0.023369 deg/s, cmd heading: 244.908809 deg, new cmd heading: 244.888375 deg. 2025-09-20T19:32:25.580Z,1758396745.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274108 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:25.800Z,1758396745.800 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:25.949Z,1758396745.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:25.951Z,1758396745.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 112.122276 m, bearing: 254.674940 deg, approach rate: -0.631976 m/s, LOS rate: -0.025643 deg/s, cmd heading: 244.888373 deg, new cmd heading: 244.869060 deg. 2025-09-20T19:32:25.952Z,1758396745.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273771 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:26.053Z,1758396746.053 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:26.304Z,1758396746.304 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:26.358Z,1758396746.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:26.361Z,1758396746.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 111.865776 m, bearing: 254.666822 deg, approach rate: -0.625969 m/s, LOS rate: -0.019856 deg/s, cmd heading: 244.869057 deg, new cmd heading: 244.852785 deg. 2025-09-20T19:32:26.362Z,1758396746.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273487 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:26.556Z,1758396746.556 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:26.769Z,1758396746.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:26.771Z,1758396746.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:26.775Z,1758396746.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 111.603218 m, bearing: 254.660729 deg, approach rate: -0.636355 m/s, LOS rate: -0.014803 deg/s, cmd heading: 244.852774 deg, new cmd heading: 244.840559 deg. 2025-09-20T19:32:26.776Z,1758396746.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273274 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:26.808Z,1758396746.808 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:27.060Z,1758396747.060 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:27.156Z,1758396747.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:27.158Z,1758396747.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 111.357437 m, bearing: 254.656967 deg, approach rate: -0.638462 m/s, LOS rate: -0.009795 deg/s, cmd heading: 244.840562 deg, new cmd heading: 244.833020 deg. 2025-09-20T19:32:27.160Z,1758396747.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273142 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:27.313Z,1758396747.313 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:27.564Z,1758396747.564 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:27.590Z,1758396747.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:27.609Z,1758396747.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 111.084213 m, bearing: 254.653573 deg, approach rate: -0.629670 m/s, LOS rate: -0.007840 deg/s, cmd heading: 244.833021 deg, new cmd heading: 244.826218 deg. 2025-09-20T19:32:27.610Z,1758396747.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273024 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:27.816Z,1758396747.816 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:27.970Z,1758396747.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:27.973Z,1758396747.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 110.844276 m, bearing: 254.652308 deg, approach rate: -0.630366 m/s, LOS rate: -0.003331 deg/s, cmd heading: 244.826218 deg, new cmd heading: 244.823683 deg. 2025-09-20T19:32:27.974Z,1758396747.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272979 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:28.068Z,1758396748.068 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:28.320Z,1758396748.320 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:28.396Z,1758396748.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:28.402Z,1758396748.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 110.581551 m, bearing: 254.652669 deg, approach rate: -0.617404 m/s, LOS rate: 0.000850 deg/s, cmd heading: 244.823678 deg, new cmd heading: 244.824401 deg. 2025-09-20T19:32:28.404Z,1758396748.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272992 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:28.572Z,1758396748.572 [DAT](INFO): DAT read: Rx Time:19:32:30.6187 2025-09-20T19:32:28.572Z,1758396748.572 [DAT](INFO): Rx dataTimestamp_ set to:1758396748.572146 2025-09-20T19:32:28.573Z,1758396748.573 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:28.814Z,1758396748.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:28.816Z,1758396748.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.69 m. 2025-09-20T19:32:28.824Z,1758396748.824 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:28.825Z,1758396748.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.688255 m, nav range: 110.323631 m, bearing: 254.652583 deg, approach rate: -0.613385 m/s, LOS rate: -0.000205 deg/s, cmd heading: 244.824388 deg, new cmd heading: 244.824215 deg. 2025-09-20T19:32:28.826Z,1758396748.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272989 target range: 118.688255 and range: 119.20 m. 2025-09-20T19:32:29.081Z,1758396749.081 [DAT](INFO): DAT read: 19:32:30.6187 LVL= 27616, 32753, 31218, 32755, AGC= 65, IDX= 409, 0.40,-1.268,-3.043,-1.253,-1.609, PHS= 0.443,-1.389, 0.312, RAW= 146.3, 7.2, CAL= 145.8, 7.8, ROT= 4.2, -7.8 2025-09-20T19:32:29.083Z,1758396749.083 [DAT](INFO): got valid direction response: 19:32:30.6187 LVL= 27616, 32753, 31218, 32755, AGC= 65, IDX= 409, 0.40,-1.268,-3.043,-1.253,-1.609, PHS= 0.443,-1.389, 0.312, RAW= 146.3, 7.2, CAL= 145.8, 7.8, ROT= 4.2, -7.8 2025-09-20T19:32:29.084Z,1758396749.084 [DAT](INFO): DAT read: Bearing 57.9, 15.5 (Local) 2025-09-20T19:32:29.084Z,1758396749.084 [DAT](INFO): Local bearing/azimuth received: Bearing 57.9, 15.5 (Local) 2025-09-20T19:32:29.085Z,1758396749.085 [DAT](INFO): DAT read: Range 11 to 50 : 116.9 m (Round-trip 155.9 ms) speed 0.5 m/s 2025-09-20T19:32:29.086Z,1758396749.086 [DAT](INFO): DAT read: user:46>Tx time:19:32:31.7086 2025-09-20T19:32:29.087Z,1758396749.087 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:29.088Z,1758396749.088 [DAT](INFO): direction in FSK: [0.988087,0.072561,0.135716] 2025-09-20T19:32:29.088Z,1758396749.088 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:29.121Z,1758396749.121 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:29.122Z,1758396749.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:29.230Z,1758396749.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.900002 m, deltaT: 3.779913 s, deltaX: -2.299995 m, approachRate: -0.608478 m/s, rangeRepo size: 4 2025-09-20T19:32:29.237Z,1758396749.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.397110 m, bearing: 255.449476 deg, lat: 36.779332 deg, lon: -121.859541 deg, deltaT: 3.779913 s, deltaX: -2.291145 m, approachRate: -0.606137 m/s, posRepo size: 4 2025-09-20T19:32:29.237Z,1758396749.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:29.244Z,1758396749.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 109.678207 m, bearing: 255.446517 deg, approach rate: 0.000000 m/s, LOS rate: -0.000205 deg/s, cmd heading: 244.824224 deg, new cmd heading: 244.824054 deg. 2025-09-20T19:32:29.245Z,1758396749.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272986 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:29.328Z,1758396749.328 [DAT](INFO): DAT read: 2025-09-20T19:32:29.328Z,1758396749.328 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:29.580Z,1758396749.580 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:29.634Z,1758396749.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:29.642Z,1758396749.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 109.427322 m, bearing: 255.449062 deg, approach rate: -0.620358 m/s, LOS rate: 0.006308 deg/s, cmd heading: 244.824060 deg, new cmd heading: 244.829162 deg. 2025-09-20T19:32:29.643Z,1758396749.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273075 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:29.832Z,1758396749.832 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:29.999Z,1758396749.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:30.002Z,1758396750.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 109.204498 m, bearing: 255.452192 deg, approach rate: -0.617009 m/s, LOS rate: 0.008685 deg/s, cmd heading: 244.829169 deg, new cmd heading: 244.835442 deg. 2025-09-20T19:32:30.008Z,1758396750.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273185 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:30.084Z,1758396750.084 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:30.336Z,1758396750.336 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:30.423Z,1758396750.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:30.426Z,1758396750.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 108.948608 m, bearing: 255.456668 deg, approach rate: -0.598829 m/s, LOS rate: 0.010498 deg/s, cmd heading: 244.835453 deg, new cmd heading: 244.844425 deg. 2025-09-20T19:32:30.427Z,1758396750.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273341 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:30.590Z,1758396750.590 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:30.840Z,1758396750.840 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:30.845Z,1758396750.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:30.851Z,1758396750.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:30.900Z,1758396750.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 108.701096 m, bearing: 255.460841 deg, approach rate: -0.583245 m/s, LOS rate: 0.009857 deg/s, cmd heading: 244.844414 deg, new cmd heading: 244.852780 deg. 2025-09-20T19:32:30.901Z,1758396750.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273487 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:31.092Z,1758396751.092 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:31.195Z,1758396751.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:31.198Z,1758396751.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 108.480896 m, bearing: 255.464946 deg, approach rate: -0.632227 m/s, LOS rate: 0.011809 deg/s, cmd heading: 244.852774 deg, new cmd heading: 244.861000 deg. 2025-09-20T19:32:31.199Z,1758396751.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273631 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:31.344Z,1758396751.344 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:31.596Z,1758396751.596 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:31.640Z,1758396751.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:31.659Z,1758396751.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 108.224396 m, bearing: 255.472636 deg, approach rate: -0.576471 m/s, LOS rate: 0.017324 deg/s, cmd heading: 244.860998 deg, new cmd heading: 244.876415 deg. 2025-09-20T19:32:31.660Z,1758396751.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273900 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:31.848Z,1758396751.848 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:32.007Z,1758396752.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:32.028Z,1758396752.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 108.012985 m, bearing: 255.479103 deg, approach rate: -0.576854 m/s, LOS rate: 0.017681 deg/s, cmd heading: 244.876407 deg, new cmd heading: 244.889366 deg. 2025-09-20T19:32:32.029Z,1758396752.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274126 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:32.100Z,1758396752.100 [DAT](INFO): DAT read: Rx Time:19:32:34.2658 2025-09-20T19:32:32.101Z,1758396752.101 [DAT](INFO): Rx dataTimestamp_ set to:1758396752.100276 2025-09-20T19:32:32.101Z,1758396752.101 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:32.352Z,1758396752.352 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:32.423Z,1758396752.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-09-20T19:32:32.438Z,1758396752.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.397110 m, nav range: 107.773270 m, bearing: 255.486509 deg, approach rate: -0.576299 m/s, LOS rate: 0.017843 deg/s, cmd heading: 244.889357 deg, new cmd heading: 244.904201 deg. 2025-09-20T19:32:32.439Z,1758396752.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274384 target range: 116.397110 and range: 116.90 m. 2025-09-20T19:32:32.625Z,1758396752.625 [DAT](INFO): DAT read: 19:32:34.2658 LVL= 32064, 32753, 32754, 32755, AGC= 62, IDX= 411,-0.10, 2.430, 0.543, 2.307, 2.028, PHS= 0.504,-1.440, 0.235, RAW= 142.7, 7.7, CAL= 142.2, 8.5, ROT= 7.8, -8.5 2025-09-20T19:32:32.627Z,1758396752.627 [DAT](INFO): got valid direction response: 19:32:34.2658 LVL= 32064, 32753, 32754, 32755, AGC= 62, IDX= 411,-0.10, 2.430, 0.543, 2.307, 2.028, PHS= 0.504,-1.440, 0.235, RAW= 142.7, 7.7, CAL= 142.2, 8.5, ROT= 7.8, -8.5 2025-09-20T19:32:32.636Z,1758396752.636 [DAT](INFO): DAT read: Bearing 55.5, 19.8 (Local) 2025-09-20T19:32:32.636Z,1758396752.636 [DAT](INFO): Local bearing/azimuth received: Bearing 55.5, 19.8 (Local) 2025-09-20T19:32:32.638Z,1758396752.638 [DAT](INFO): DAT read: Range 11 to 50 : 114.7 m (Round-trip 153.0 ms) speed 0.5 m/s 2025-09-20T19:32:32.639Z,1758396752.639 [DAT](INFO): DAT read: user:47>Tx time:19:32:35.3586 2025-09-20T19:32:32.647Z,1758396752.647 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:32.648Z,1758396752.648 [DAT](INFO): direction in FSK: [0.979865,0.134225,0.147809] 2025-09-20T19:32:32.649Z,1758396752.649 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:32.664Z,1758396752.664 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:32.665Z,1758396752.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:32.859Z,1758396752.859 [DAT](INFO): DAT read: 2025-09-20T19:32:32.860Z,1758396752.860 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:32.941Z,1758396752.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.699997 m, deltaT: 3.529498 s, deltaX: -2.200005 m, approachRate: -0.623319 m/s, rangeRepo size: 4 2025-09-20T19:32:32.948Z,1758396752.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.205635 m, bearing: 256.799542 deg, lat: 36.779337 deg, lon: -121.859538 deg, deltaT: 3.529498 s, deltaX: -2.191475 m, approachRate: -0.620903 m/s, posRepo size: 4 2025-09-20T19:32:32.948Z,1758396752.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:32.955Z,1758396752.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 107.089905 m, bearing: 255.724558 deg, approach rate: 0.000000 m/s, LOS rate: 0.017843 deg/s, cmd heading: 244.904192 deg, new cmd heading: 244.922676 deg. 2025-09-20T19:32:32.956Z,1758396752.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274707 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:33.108Z,1758396753.108 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:33.281Z,1758396753.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:33.299Z,1758396753.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:33.305Z,1758396753.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 106.853966 m, bearing: 255.735208 deg, approach rate: -0.689086 m/s, LOS rate: 0.031174 deg/s, cmd heading: 244.922688 deg, new cmd heading: 244.944036 deg. 2025-09-20T19:32:33.306Z,1758396753.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275080 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:33.360Z,1758396753.360 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:33.617Z,1758396753.617 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:33.709Z,1758396753.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:33.712Z,1758396753.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 106.604965 m, bearing: 255.748140 deg, approach rate: -0.584705 m/s, LOS rate: 0.030437 deg/s, cmd heading: 244.944025 deg, new cmd heading: 244.969949 deg. 2025-09-20T19:32:33.713Z,1758396753.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275532 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:33.865Z,1758396753.865 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:34.093Z,1758396754.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:34.096Z,1758396754.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 106.379494 m, bearing: 255.759650 deg, approach rate: -0.586127 m/s, LOS rate: 0.029985 deg/s, cmd heading: 244.969953 deg, new cmd heading: 244.993022 deg. 2025-09-20T19:32:34.097Z,1758396754.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275935 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:34.116Z,1758396754.116 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:34.370Z,1758396754.370 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:34.493Z,1758396754.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:34.496Z,1758396754.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 106.146103 m, bearing: 255.771464 deg, approach rate: -0.584493 m/s, LOS rate: 0.029651 deg/s, cmd heading: 244.993012 deg, new cmd heading: 245.016691 deg. 2025-09-20T19:32:34.497Z,1758396754.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276348 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:34.622Z,1758396754.622 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:34.872Z,1758396754.872 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:34.946Z,1758396754.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:34.949Z,1758396754.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 105.867767 m, bearing: 255.784686 deg, approach rate: -0.613555 m/s, LOS rate: 0.029224 deg/s, cmd heading: 245.016699 deg, new cmd heading: 245.043214 deg. 2025-09-20T19:32:34.950Z,1758396754.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276811 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:35.124Z,1758396755.124 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:35.315Z,1758396755.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:35.317Z,1758396755.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:35.344Z,1758396755.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 105.640778 m, bearing: 255.795298 deg, approach rate: -0.612777 m/s, LOS rate: 0.028709 deg/s, cmd heading: 245.043227 deg, new cmd heading: 245.064496 deg. 2025-09-20T19:32:35.345Z,1758396755.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277182 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:35.377Z,1758396755.377 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:35.631Z,1758396755.631 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:35.771Z,1758396755.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:35.775Z,1758396755.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 105.358635 m, bearing: 255.808615 deg, approach rate: -0.621019 m/s, LOS rate: 0.029391 deg/s, cmd heading: 245.064483 deg, new cmd heading: 245.091188 deg. 2025-09-20T19:32:35.777Z,1758396755.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277648 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:35.881Z,1758396755.881 [DAT](INFO): DAT read: Rx Time:19:32:37.9126 2025-09-20T19:32:35.882Z,1758396755.882 [DAT](INFO): Rx dataTimestamp_ set to:1758396755.881046 2025-09-20T19:32:35.882Z,1758396755.882 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:36.132Z,1758396756.132 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:36.137Z,1758396756.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.21 m. 2025-09-20T19:32:36.140Z,1758396756.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.205635 m, nav range: 105.132637 m, bearing: 255.819036 deg, approach rate: -0.617933 m/s, LOS rate: 0.028554 deg/s, cmd heading: 245.091175 deg, new cmd heading: 245.112062 deg. 2025-09-20T19:32:36.141Z,1758396756.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278012 target range: 114.205635 and range: 114.70 m. 2025-09-20T19:32:36.161Z,1758396756.161 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:32:36.392Z,1758396756.392 [DAT](INFO): DAT read: 19:32:37.9126 LVL= 28880, 32753, 31090, 32755, AGC= 64, IDX= 412,-0.48,-1.353, 3.109,-1.460,-1.756, PHS= 0.506,-1.373, 0.252, RAW= 142.8, 7.0, CAL= 142.4, 7.7, ROT= 7.6, -7.7 2025-09-20T19:32:36.394Z,1758396756.394 [DAT](INFO): got valid direction response: 19:32:37.9126 LVL= 28880, 32753, 31090, 32755, AGC= 64, IDX= 412,-0.48,-1.353, 3.109,-1.460,-1.756, PHS= 0.506,-1.373, 0.252, RAW= 142.8, 7.0, CAL= 142.4, 7.7, ROT= 7.6, -7.7 2025-09-20T19:32:36.394Z,1758396756.394 [DAT](INFO): DAT read: Bearing 55.1, 21.6 (Local) 2025-09-20T19:32:36.399Z,1758396756.399 [DAT](INFO): Local bearing/azimuth received: Bearing 55.1, 21.6 (Local) 2025-09-20T19:32:36.405Z,1758396756.405 [DAT](INFO): DAT read: Range 11 to 50 : 112.4 m (Round-trip 149.9 ms) speed 0.6 m/s 2025-09-20T19:32:36.406Z,1758396756.406 [DAT](INFO): DAT read: user:48>Tx time:19:32:39.0086 2025-09-20T19:32:36.406Z,1758396756.406 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:36.407Z,1758396756.407 [DAT](INFO): direction in FSK: [0.982278,0.131064,0.133986] 2025-09-20T19:32:36.408Z,1758396756.408 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:36.411Z,1758396756.411 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:36.411Z,1758396756.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:36.594Z,1758396756.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.400002 m, deltaT: 3.779494 s, deltaX: -2.299995 m, approachRate: -0.608546 m/s, rangeRepo size: 4 2025-09-20T19:32:36.611Z,1758396756.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.913330 m, bearing: 257.206297 deg, lat: 36.779337 deg, lon: -121.859538 deg, deltaT: 3.779494 s, deltaX: -2.292305 m, approachRate: -0.606511 m/s, posRepo size: 4 2025-09-20T19:32:36.612Z,1758396756.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.91 m. 2025-09-20T19:32:36.614Z,1758396756.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.913330 m, nav range: 104.881912 m, bearing: 255.830543 deg, approach rate: 0.000000 m/s, LOS rate: 0.028554 deg/s, cmd heading: 245.112048 deg, new cmd heading: 245.138124 deg. 2025-09-20T19:32:36.621Z,1758396756.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278467 target range: 111.913330 and range: 112.40 m. 2025-09-20T19:32:36.640Z,1758396756.640 [DAT](INFO): DAT read: 2025-09-20T19:32:36.641Z,1758396756.641 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:36.889Z,1758396756.889 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:37.027Z,1758396757.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.91 m. 2025-09-20T19:32:37.030Z,1758396757.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.913330 m, nav range: 104.565231 m, bearing: 255.844929 deg, approach rate: -0.730820 m/s, LOS rate: 0.033301 deg/s, cmd heading: 245.138112 deg, new cmd heading: 245.166973 deg. 2025-09-20T19:32:37.031Z,1758396757.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278971 target range: 111.913330 and range: 112.40 m. 2025-09-20T19:32:37.140Z,1758396757.140 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:37.163Z,1758396757.163 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:32:37.393Z,1758396757.393 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:37.495Z,1758396757.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:37.500Z,1758396757.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.91 m. 2025-09-20T19:32:37.503Z,1758396757.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.913330 m, nav range: 104.270149 m, bearing: 255.858237 deg, approach rate: -0.623168 m/s, LOS rate: 0.028184 deg/s, cmd heading: 245.166963 deg, new cmd heading: 245.193654 deg. 2025-09-20T19:32:37.504Z,1758396757.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279437 target range: 111.913330 and range: 112.40 m. 2025-09-20T19:32:37.646Z,1758396757.646 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:37.896Z,1758396757.896 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:37.936Z,1758396757.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.91 m. 2025-09-20T19:32:37.939Z,1758396757.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.913330 m, nav range: 103.974983 m, bearing: 255.869458 deg, approach rate: -0.677252 m/s, LOS rate: 0.025818 deg/s, cmd heading: 245.193655 deg, new cmd heading: 245.216160 deg. 2025-09-20T19:32:37.940Z,1758396757.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279830 target range: 111.913330 and range: 112.40 m. 2025-09-20T19:32:38.148Z,1758396758.148 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:38.318Z,1758396758.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.91 m. 2025-09-20T19:32:38.321Z,1758396758.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.913330 m, nav range: 103.727715 m, bearing: 255.878826 deg, approach rate: -0.647965 m/s, LOS rate: 0.024609 deg/s, cmd heading: 245.216168 deg, new cmd heading: 245.234949 deg. 2025-09-20T19:32:38.322Z,1758396758.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280157 target range: 111.913330 and range: 112.40 m. 2025-09-20T19:32:38.400Z,1758396758.400 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:38.655Z,1758396758.655 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:38.818Z,1758396758.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.91 m. 2025-09-20T19:32:38.837Z,1758396758.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.913330 m, nav range: 103.406960 m, bearing: 255.891065 deg, approach rate: -0.640861 m/s, LOS rate: 0.024529 deg/s, cmd heading: 245.234937 deg, new cmd heading: 245.259491 deg. 2025-09-20T19:32:38.838Z,1758396758.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280586 target range: 111.913330 and range: 112.40 m. 2025-09-20T19:32:38.904Z,1758396758.904 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:39.156Z,1758396759.156 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:39.313Z,1758396759.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.91 m. 2025-09-20T19:32:39.316Z,1758396759.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.913330 m, nav range: 103.089325 m, bearing: 255.903205 deg, approach rate: -0.642580 m/s, LOS rate: 0.024634 deg/s, cmd heading: 245.259498 deg, new cmd heading: 245.283852 deg. 2025-09-20T19:32:39.317Z,1758396759.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281011 target range: 111.913330 and range: 112.40 m. 2025-09-20T19:32:39.408Z,1758396759.408 [DAT](INFO): DAT read: Rx Time:19:32:41.5592 2025-09-20T19:32:39.409Z,1758396759.409 [DAT](INFO): Rx dataTimestamp_ set to:1758396759.408450 2025-09-20T19:32:39.409Z,1758396759.409 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:39.664Z,1758396759.664 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:39.836Z,1758396759.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:39.853Z,1758396759.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.91 m. 2025-09-20T19:32:39.862Z,1758396759.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.913330 m, nav range: 102.782997 m, bearing: 255.913260 deg, approach rate: -0.568057 m/s, LOS rate: 0.018703 deg/s, cmd heading: 245.283841 deg, new cmd heading: 245.304012 deg. 2025-09-20T19:32:39.868Z,1758396759.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281363 target range: 111.913330 and range: 112.40 m. 2025-09-20T19:32:39.918Z,1758396759.918 [DAT](INFO): DAT read: 19:32:41.5592 LVL= 30976, 31825, 32690, 32755, AGC= 60, IDX= 409, 0.40,-0.469,-2.274,-0.558,-0.879, PHS= 0.513,-1.350, 0.277, RAW= 143.3, 6.4, CAL= 142.9, 7.1, ROT= 7.1, -7.1 2025-09-20T19:32:39.919Z,1758396759.919 [DAT](INFO): got valid direction response: 19:32:41.5592 LVL= 30976, 31825, 32690, 32755, AGC= 60, IDX= 409, 0.40,-0.469,-2.274,-0.558,-0.879, PHS= 0.513,-1.350, 0.277, RAW= 143.3, 6.4, CAL= 142.9, 7.1, ROT= 7.1, -7.1 2025-09-20T19:32:39.920Z,1758396759.920 [DAT](INFO): DAT read: Bearing 54.9, 22.4 (Local) 2025-09-20T19:32:39.920Z,1758396759.920 [DAT](INFO): Local bearing/azimuth received: Bearing 54.9, 22.4 (Local) 2025-09-20T19:32:39.922Z,1758396759.922 [DAT](INFO): DAT read: Range 11 to 50 : 109.8 m (Round-trip 146.5 ms) speed 0.6 m/s 2025-09-20T19:32:39.923Z,1758396759.923 [DAT](INFO): DAT read: user:49>Tx time:19:32:42.6585 2025-09-20T19:32:39.924Z,1758396759.924 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:39.925Z,1758396759.925 [DAT](INFO): direction in FSK: [0.984723,0.122654,0.123601] 2025-09-20T19:32:39.925Z,1758396759.925 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:39.928Z,1758396759.928 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:39.929Z,1758396759.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:40.164Z,1758396760.164 [DAT](INFO): DAT read: 2025-09-20T19:32:40.164Z,1758396760.164 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:40.257Z,1758396760.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.800003 m, deltaT: 3.527309 s, deltaX: -2.599998 m, approachRate: -0.737105 m/s, rangeRepo size: 4 2025-09-20T19:32:40.260Z,1758396760.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.323982 m, bearing: 256.966964 deg, lat: 36.779355 deg, lon: -121.859533 deg, deltaT: 3.527309 s, deltaX: -2.589348 m, approachRate: -0.734086 m/s, posRepo size: 4 2025-09-20T19:32:40.260Z,1758396760.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:40.263Z,1758396760.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 101.563744 m, bearing: 256.989084 deg, approach rate: 0.000000 m/s, LOS rate: 0.018703 deg/s, cmd heading: 245.304004 deg, new cmd heading: 245.319150 deg. 2025-09-20T19:32:40.264Z,1758396760.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281627 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:40.416Z,1758396760.416 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:40.657Z,1758396760.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:40.660Z,1758396760.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 101.305786 m, bearing: 257.000169 deg, approach rate: -0.643992 m/s, LOS rate: 0.027743 deg/s, cmd heading: 245.319139 deg, new cmd heading: 245.341365 deg. 2025-09-20T19:32:40.663Z,1758396760.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282015 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:40.668Z,1758396760.668 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:40.924Z,1758396760.924 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:41.087Z,1758396761.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:41.090Z,1758396761.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 101.027115 m, bearing: 257.013613 deg, approach rate: -0.648252 m/s, LOS rate: 0.031362 deg/s, cmd heading: 245.341379 deg, new cmd heading: 245.368342 deg. 2025-09-20T19:32:41.091Z,1758396761.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282485 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:41.172Z,1758396761.172 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:41.424Z,1758396761.424 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:41.464Z,1758396761.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:41.466Z,1758396761.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 100.788002 m, bearing: 257.024969 deg, approach rate: -0.634833 m/s, LOS rate: 0.030220 deg/s, cmd heading: 245.368344 deg, new cmd heading: 245.391109 deg. 2025-09-20T19:32:41.468Z,1758396761.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282883 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:41.677Z,1758396761.677 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:41.893Z,1758396761.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:41.896Z,1758396761.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:41.898Z,1758396761.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 100.511421 m, bearing: 257.039880 deg, approach rate: -0.640701 m/s, LOS rate: 0.034636 deg/s, cmd heading: 245.391102 deg, new cmd heading: 245.421006 deg. 2025-09-20T19:32:41.899Z,1758396761.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283405 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:41.928Z,1758396761.928 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:42.180Z,1758396762.180 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:42.262Z,1758396762.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:42.266Z,1758396762.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 100.275482 m, bearing: 257.052476 deg, approach rate: -0.644299 m/s, LOS rate: 0.034480 deg/s, cmd heading: 245.421019 deg, new cmd heading: 245.446271 deg. 2025-09-20T19:32:42.267Z,1758396762.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283845 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:42.432Z,1758396762.432 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:42.663Z,1758396762.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:42.665Z,1758396762.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 100.017319 m, bearing: 257.066210 deg, approach rate: -0.644027 m/s, LOS rate: 0.034348 deg/s, cmd heading: 245.446263 deg, new cmd heading: 245.473800 deg. 2025-09-20T19:32:42.666Z,1758396762.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284326 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:42.687Z,1758396762.687 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:42.936Z,1758396762.936 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:43.088Z,1758396763.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:43.090Z,1758396763.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 99.750114 m, bearing: 257.082010 deg, approach rate: -0.628317 m/s, LOS rate: 0.037254 deg/s, cmd heading: 245.473802 deg, new cmd heading: 245.505488 deg. 2025-09-20T19:32:43.092Z,1758396763.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284879 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:43.188Z,1758396763.188 [DAT](INFO): DAT read: Rx Time:19:32:45.2061 2025-09-20T19:32:43.189Z,1758396763.189 [DAT](INFO): Rx dataTimestamp_ set to:1758396763.188252 2025-09-20T19:32:43.189Z,1758396763.189 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:43.443Z,1758396763.443 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:43.537Z,1758396763.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.32 m. 2025-09-20T19:32:43.544Z,1758396763.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.323982 m, nav range: 99.470039 m, bearing: 257.098491 deg, approach rate: -0.623441 m/s, LOS rate: 0.036790 deg/s, cmd heading: 245.505494 deg, new cmd heading: 245.538549 deg. 2025-09-20T19:32:43.545Z,1758396763.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285456 target range: 109.323982 and range: 109.80 m. 2025-09-20T19:32:43.701Z,1758396763.701 [DAT](INFO): DAT read: 19:32:45.2061 LVL= 30320, 32753, 32754, 32755, AGC= 63, IDX= 409, 0.12, 2.537, 0.694, 2.456, 2.137, PHS= 0.502,-1.398, 0.275, RAW= 143.7, 7.0, CAL= 143.3, 7.6, ROT= 6.7, -7.6 2025-09-20T19:32:43.702Z,1758396763.702 [DAT](INFO): got valid direction response: 19:32:45.2061 LVL= 30320, 32753, 32754, 32755, AGC= 63, IDX= 409, 0.12, 2.537, 0.694, 2.456, 2.137, PHS= 0.502,-1.398, 0.275, RAW= 143.7, 7.0, CAL= 143.3, 7.6, ROT= 6.7, -7.6 2025-09-20T19:32:43.703Z,1758396763.703 [DAT](INFO): DAT read: Bearing 55.6, 20.0 (Local) 2025-09-20T19:32:43.704Z,1758396763.704 [DAT](INFO): Local bearing/azimuth received: Bearing 55.6, 20.0 (Local) 2025-09-20T19:32:43.705Z,1758396763.705 [DAT](INFO): DAT read: Range 11 to 50 : 107.5 m (Round-trip 143.4 ms) speed 0.7 m/s 2025-09-20T19:32:43.707Z,1758396763.707 [DAT](INFO): DAT read: user:50>Tx time:19:32:46.3085 2025-09-20T19:32:43.729Z,1758396763.729 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:43.755Z,1758396763.755 [DAT](INFO): direction in FSK: [0.984446,0.115646,0.132256] 2025-09-20T19:32:43.756Z,1758396763.756 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:43.789Z,1758396763.789 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:43.789Z,1758396763.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:43.944Z,1758396763.944 [DAT](INFO): DAT read: 2025-09-20T19:32:43.944Z,1758396763.944 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:43.960Z,1758396763.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.500000 m, deltaT: 3.781450 s, deltaX: -2.300003 m, approachRate: -0.608233 m/s, rangeRepo size: 4 2025-09-20T19:32:43.962Z,1758396763.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.033798 m, bearing: 256.912639 deg, lat: 36.779355 deg, lon: -121.859538 deg, deltaT: 3.781450 s, deltaX: -2.290184 m, approachRate: -0.605636 m/s, posRepo size: 4 2025-09-20T19:32:43.963Z,1758396763.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:43.966Z,1758396763.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 99.640137 m, bearing: 257.168653 deg, approach rate: 0.000000 m/s, LOS rate: 0.036790 deg/s, cmd heading: 245.538552 deg, new cmd heading: 245.569621 deg. 2025-09-20T19:32:43.967Z,1758396763.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285998 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:44.196Z,1758396764.196 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:44.292Z,1758396764.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:44.294Z,1758396764.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:44.297Z,1758396764.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 99.407463 m, bearing: 257.180896 deg, approach rate: -0.696215 m/s, LOS rate: 0.036720 deg/s, cmd heading: 245.569616 deg, new cmd heading: 245.594160 deg. 2025-09-20T19:32:44.298Z,1758396764.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286427 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:44.448Z,1758396764.448 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:44.700Z,1758396764.700 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:44.701Z,1758396764.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:44.720Z,1758396764.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 99.144073 m, bearing: 257.194776 deg, approach rate: -0.649421 m/s, LOS rate: 0.034315 deg/s, cmd heading: 245.594150 deg, new cmd heading: 245.621985 deg. 2025-09-20T19:32:44.721Z,1758396764.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286912 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:44.952Z,1758396764.952 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:45.157Z,1758396765.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:45.160Z,1758396765.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 98.849327 m, bearing: 257.208715 deg, approach rate: -0.644095 m/s, LOS rate: 0.030550 deg/s, cmd heading: 245.621990 deg, new cmd heading: 245.649951 deg. 2025-09-20T19:32:45.161Z,1758396765.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287400 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:45.205Z,1758396765.205 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:45.456Z,1758396765.456 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:45.552Z,1758396765.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:45.554Z,1758396765.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 98.595329 m, bearing: 257.220794 deg, approach rate: -0.643366 m/s, LOS rate: 0.030674 deg/s, cmd heading: 245.649939 deg, new cmd heading: 245.674159 deg. 2025-09-20T19:32:45.555Z,1758396765.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287823 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:45.708Z,1758396765.708 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:45.960Z,1758396765.960 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:45.970Z,1758396765.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:45.973Z,1758396765.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 98.323074 m, bearing: 257.235999 deg, approach rate: -0.650758 m/s, LOS rate: 0.036446 deg/s, cmd heading: 245.674145 deg, new cmd heading: 245.704641 deg. 2025-09-20T19:32:45.974Z,1758396765.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288355 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:46.212Z,1758396766.212 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:46.346Z,1758396766.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:46.349Z,1758396766.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:46.354Z,1758396766.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 98.074677 m, bearing: 257.249969 deg, approach rate: -0.655512 m/s, LOS rate: 0.036957 deg/s, cmd heading: 245.704635 deg, new cmd heading: 245.732644 deg. 2025-09-20T19:32:46.356Z,1758396766.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288844 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:46.464Z,1758396766.464 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:46.716Z,1758396766.716 [DAT](INFO): DAT read: Rx Time:19:32:48.8528 2025-09-20T19:32:46.716Z,1758396766.716 [DAT](INFO): Rx dataTimestamp_ set to:1758396766.716208 2025-09-20T19:32:46.717Z,1758396766.717 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:46.746Z,1758396766.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:46.749Z,1758396766.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 97.808395 m, bearing: 257.265015 deg, approach rate: -0.670306 m/s, LOS rate: 0.037978 deg/s, cmd heading: 245.732639 deg, new cmd heading: 245.762813 deg. 2025-09-20T19:32:46.750Z,1758396766.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289370 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:46.968Z,1758396766.968 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:32:47.208Z,1758396767.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.03 m. 2025-09-20T19:32:47.210Z,1758396767.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.033798 m, nav range: 97.493950 m, bearing: 257.282795 deg, approach rate: -0.681130 m/s, LOS rate: 0.038639 deg/s, cmd heading: 245.762801 deg, new cmd heading: 245.798477 deg. 2025-09-20T19:32:47.212Z,1758396767.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289993 target range: 107.033798 and range: 107.50 m. 2025-09-20T19:32:47.226Z,1758396767.226 [DAT](INFO): DAT read: 19:32:48.8528 LVL= 30992, 32753, 32402, 32755, AGC= 65, IDX= 407, 0.05, 0.809,-1.052, 0.749, 0.430, PHS= 0.481,-1.437, 0.275, RAW= 144.4, 7.5, CAL= 144.0, 8.2, ROT= 6.0, -8.2 2025-09-20T19:32:47.244Z,1758396767.244 [DAT](INFO): got valid direction response: 19:32:48.8528 LVL= 30992, 32753, 32402, 32755, AGC= 65, IDX= 407, 0.05, 0.809,-1.052, 0.749, 0.430, PHS= 0.481,-1.437, 0.275, RAW= 144.4, 7.5, CAL= 144.0, 8.2, ROT= 6.0, -8.2 2025-09-20T19:32:47.244Z,1758396767.244 [DAT](INFO): DAT read: Bearing 56.4, 16.8 (Local) 2025-09-20T19:32:47.245Z,1758396767.245 [DAT](INFO): Local bearing/azimuth received: Bearing 56.4, 16.8 (Local) 2025-09-20T19:32:47.246Z,1758396767.246 [DAT](INFO): DAT read: Range 11 to 50 : 105.0 m (Round-trip 140.1 ms) speed 0.8 m/s 2025-09-20T19:32:47.247Z,1758396767.247 [DAT](INFO): DAT read: Tx time:19:32:49.9179 2025-09-20T19:32:47.247Z,1758396767.247 [DAT](INFO): Ping request sent. 2025-09-20T19:32:47.248Z,1758396767.248 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:32:47.248Z,1758396767.248 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:47.249Z,1758396767.249 [DAT](INFO): direction in FSK: [0.984354,0.103460,0.142629] 2025-09-20T19:32:47.249Z,1758396767.249 [DAT](INFO): publishing transmit ping time 2025-09-20T19:32:47.249Z,1758396767.249 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:47.265Z,1758396767.265 [DAT](INFO): publishing transmit ping time 2025-09-20T19:32:47.265Z,1758396767.265 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:47.586Z,1758396767.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.000000 m, deltaT: 3.526350 s, deltaX: -2.500000 m, approachRate: -0.708948 m/s, rangeRepo size: 4 2025-09-20T19:32:47.604Z,1758396767.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.545197 m, bearing: 256.278083 deg, lat: 36.779355 deg, lon: -121.859538 deg, deltaT: 3.526350 s, deltaX: -2.488602 m, approachRate: -0.705716 m/s, posRepo size: 4 2025-09-20T19:32:47.605Z,1758396767.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.55 m. 2025-09-20T19:32:47.612Z,1758396767.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.545197 m, nav range: 97.238594 m, bearing: 257.297303 deg, approach rate: 0.000000 m/s, LOS rate: 0.038639 deg/s, cmd heading: 245.798482 deg, new cmd heading: 245.827670 deg. 2025-09-20T19:32:47.613Z,1758396767.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290502 target range: 104.545197 and range: 105.00 m. 2025-09-20T19:32:48.021Z,1758396768.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.55 m. 2025-09-20T19:32:48.024Z,1758396768.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.545197 m, nav range: 96.943565 m, bearing: 257.314515 deg, approach rate: -0.676823 m/s, LOS rate: 0.039605 deg/s, cmd heading: 245.827661 deg, new cmd heading: 245.862188 deg. 2025-09-20T19:32:48.025Z,1758396768.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291105 target range: 104.545197 and range: 105.00 m. 2025-09-20T19:32:48.390Z,1758396768.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:48.393Z,1758396768.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.55 m. 2025-09-20T19:32:48.396Z,1758396768.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.545197 m, nav range: 96.694611 m, bearing: 257.329112 deg, approach rate: -0.670311 m/s, LOS rate: 0.039404 deg/s, cmd heading: 245.862194 deg, new cmd heading: 245.891464 deg. 2025-09-20T19:32:48.397Z,1758396768.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291615 target range: 104.545197 and range: 105.00 m. 2025-09-20T19:32:48.480Z,1758396768.480 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:32:48.481Z,1758396768.481 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:32:48.481Z,1758396768.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:48.732Z,1758396768.732 [DAT](INFO): DAT read: user:51> 2025-09-20T19:32:48.733Z,1758396768.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484919 2025-09-20T19:32:48.872Z,1758396768.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.55 m. 2025-09-20T19:32:48.881Z,1758396768.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.545197 m, nav range: 96.407516 m, bearing: 257.346009 deg, approach rate: -0.599577 m/s, LOS rate: 0.035394 deg/s, cmd heading: 245.891455 deg, new cmd heading: 245.925350 deg. 2025-09-20T19:32:48.882Z,1758396768.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292207 target range: 104.545197 and range: 105.00 m. 2025-09-20T19:32:48.984Z,1758396768.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736425 2025-09-20T19:32:49.220Z,1758396769.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.55 m. 2025-09-20T19:32:49.223Z,1758396769.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.545197 m, nav range: 96.130585 m, bearing: 257.360776 deg, approach rate: -0.794338 m/s, LOS rate: 0.042478 deg/s, cmd heading: 245.925360 deg, new cmd heading: 245.954978 deg. 2025-09-20T19:32:49.224Z,1758396769.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292724 target range: 104.545197 and range: 105.00 m. 2025-09-20T19:32:49.236Z,1758396769.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988441 2025-09-20T19:32:49.488Z,1758396769.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240494 2025-09-20T19:32:49.623Z,1758396769.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.55 m. 2025-09-20T19:32:49.626Z,1758396769.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.545197 m, nav range: 95.864296 m, bearing: 257.375016 deg, approach rate: -0.695805 m/s, LOS rate: 0.037314 deg/s, cmd heading: 245.954975 deg, new cmd heading: 245.983536 deg. 2025-09-20T19:32:49.631Z,1758396769.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293222 target range: 104.545197 and range: 105.00 m. 2025-09-20T19:32:49.740Z,1758396769.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492741 2025-09-20T19:32:49.992Z,1758396769.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744591 2025-09-20T19:32:50.043Z,1758396770.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.55 m. 2025-09-20T19:32:50.046Z,1758396770.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.545197 m, nav range: 95.562370 m, bearing: 257.391870 deg, approach rate: -0.686486 m/s, LOS rate: 0.038442 deg/s, cmd heading: 245.983526 deg, new cmd heading: 246.017340 deg. 2025-09-20T19:32:50.047Z,1758396770.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293813 target range: 104.545197 and range: 105.00 m. 2025-09-20T19:32:50.244Z,1758396770.244 [DAT](INFO): DAT read: Rx Time:19:32:52.4588 2025-09-20T19:32:50.245Z,1758396770.245 [DAT](INFO): Rx dataTimestamp_ set to:1758396770.244442 2025-09-20T19:32:50.245Z,1758396770.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997651 2025-09-20T19:32:50.410Z,1758396770.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:50.412Z,1758396770.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.55 m. 2025-09-20T19:32:50.415Z,1758396770.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.545197 m, nav range: 95.308601 m, bearing: 257.406045 deg, approach rate: -0.686461 m/s, LOS rate: 0.038447 deg/s, cmd heading: 246.017349 deg, new cmd heading: 246.045774 deg. 2025-09-20T19:32:50.416Z,1758396770.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294309 target range: 104.545197 and range: 105.00 m. 2025-09-20T19:32:50.496Z,1758396770.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248653 2025-09-20T19:32:50.758Z,1758396770.758 [DAT](INFO): DAT read: 19:32:52.4588 LVL= 28368, 32753, 31826, 32755, AGC= 66, IDX= 149, 0.16,-0.054,-1.986,-0.124,-0.440, PHS= 0.488,-1.501, 0.272, RAW= 144.3, 7.9, CAL= 143.9, 8.6, ROT= 6.1, -8.6 2025-09-20T19:32:50.759Z,1758396770.759 [DAT](INFO): got valid direction response: 19:32:52.4588 LVL= 28368, 32753, 31826, 32755, AGC= 66, IDX= 149, 0.16,-0.054,-1.986,-0.124,-0.440, PHS= 0.488,-1.501, 0.272, RAW= 144.3, 7.9, CAL= 143.9, 8.6, ROT= 6.1, -8.6 2025-09-20T19:32:50.760Z,1758396770.760 [DAT](INFO): DAT read: Bearing 57.1, 14.4 (Local) 2025-09-20T19:32:50.760Z,1758396770.760 [DAT](INFO): Local bearing/azimuth received: Bearing 57.1, 14.4 (Local) 2025-09-20T19:32:50.762Z,1758396770.762 [DAT](INFO): DAT read: Range 11 to 50 : 102.6 m (Round-trip 136.8 ms) speed 0.6 m/s 2025-09-20T19:32:50.764Z,1758396770.764 [DAT](INFO): DAT read: user:52>Tx time:19:32:53.5585 2025-09-20T19:32:50.765Z,1758396770.765 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:50.765Z,1758396770.765 [DAT](INFO): direction in FSK: [0.983158,0.105069,0.149535] 2025-09-20T19:32:50.766Z,1758396770.766 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:50.769Z,1758396770.769 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:32:50.769Z,1758396770.769 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:32:50.769Z,1758396770.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:50.000Z,1758396771.000 [DAT](INFO): DAT read: 2025-09-20T19:32:51.000Z,1758396771.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752859 2025-09-20T19:32:51.013Z,1758396771.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.599998 m, deltaT: 3.529527 s, deltaX: -2.400002 m, approachRate: -0.679978 m/s, rangeRepo size: 4 2025-09-20T19:32:51.016Z,1758396771.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.155609 m, bearing: 256.467592 deg, lat: 36.779349 deg, lon: -121.859547 deg, deltaT: 3.529527 s, deltaX: -2.389587 m, approachRate: -0.677028 m/s, posRepo size: 4 2025-09-20T19:32:51.016Z,1758396771.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:51.019Z,1758396771.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 95.789658 m, bearing: 257.158145 deg, approach rate: 0.000000 m/s, LOS rate: 0.038447 deg/s, cmd heading: 246.045762 deg, new cmd heading: 246.091922 deg. 2025-09-20T19:32:51.020Z,1758396771.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295115 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:51.252Z,1758396771.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.004385 2025-09-20T19:32:51.382Z,1758396771.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:51.385Z,1758396771.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 95.528442 m, bearing: 257.171841 deg, approach rate: -0.707613 m/s, LOS rate: 0.037203 deg/s, cmd heading: 246.091934 deg, new cmd heading: 246.119401 deg. 2025-09-20T19:32:51.386Z,1758396771.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295594 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:51.504Z,1758396771.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.256416 2025-09-20T19:32:51.756Z,1758396771.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.508642 2025-09-20T19:32:51.810Z,1758396771.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:51.817Z,1758396771.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 95.236618 m, bearing: 257.187231 deg, approach rate: -0.682651 m/s, LOS rate: 0.036112 deg/s, cmd heading: 246.119392 deg, new cmd heading: 246.150267 deg. 2025-09-20T19:32:51.818Z,1758396771.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296133 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:52.008Z,1758396772.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.760367 2025-09-20T19:32:52.207Z,1758396772.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:52.210Z,1758396772.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 94.966667 m, bearing: 257.201370 deg, approach rate: -0.679388 m/s, LOS rate: 0.035685 deg/s, cmd heading: 246.150264 deg, new cmd heading: 246.178622 deg. 2025-09-20T19:32:52.211Z,1758396772.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296628 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:52.260Z,1758396772.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.012554 2025-09-20T19:32:52.512Z,1758396772.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.264763 2025-09-20T19:32:52.595Z,1758396772.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:52.597Z,1758396772.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:52.600Z,1758396772.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 94.704460 m, bearing: 257.215077 deg, approach rate: -0.672145 m/s, LOS rate: 0.035235 deg/s, cmd heading: 246.178623 deg, new cmd heading: 246.206113 deg. 2025-09-20T19:32:52.601Z,1758396772.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297107 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:52.764Z,1758396772.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.516393 2025-09-20T19:32:53.016Z,1758396773.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.768392 2025-09-20T19:32:53.036Z,1758396773.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:53.039Z,1758396773.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 94.409172 m, bearing: 257.228754 deg, approach rate: -0.672590 m/s, LOS rate: 0.031249 deg/s, cmd heading: 246.206108 deg, new cmd heading: 246.233547 deg. 2025-09-20T19:32:53.060Z,1758396773.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297586 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:53.269Z,1758396773.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.021521 2025-09-20T19:32:53.398Z,1758396773.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:53.401Z,1758396773.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 94.165382 m, bearing: 257.239913 deg, approach rate: -0.672280 m/s, LOS rate: 0.030853 deg/s, cmd heading: 246.233538 deg, new cmd heading: 246.255914 deg. 2025-09-20T19:32:53.402Z,1758396773.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297976 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:53.520Z,1758396773.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.272353 2025-09-20T19:32:53.772Z,1758396773.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.524249 2025-09-20T19:32:53.831Z,1758396773.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:53.837Z,1758396773.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 93.878868 m, bearing: 257.252970 deg, approach rate: -0.663335 m/s, LOS rate: 0.030321 deg/s, cmd heading: 246.255914 deg, new cmd heading: 246.282107 deg. 2025-09-20T19:32:53.838Z,1758396773.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298434 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:54.024Z,1758396774.024 [DAT](INFO): DAT read: Rx Time:19:32:56.0961 2025-09-20T19:32:54.025Z,1758396774.025 [DAT](INFO): Rx dataTimestamp_ set to:1758396774.024450 2025-09-20T19:32:54.025Z,1758396774.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.777643 2025-09-20T19:32:54.261Z,1758396774.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.16 m. 2025-09-20T19:32:54.265Z,1758396774.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.155609 m, nav range: 93.579819 m, bearing: 257.265198 deg, approach rate: -0.693982 m/s, LOS rate: 0.028467 deg/s, cmd heading: 246.282114 deg, new cmd heading: 246.306648 deg. 2025-09-20T19:32:54.266Z,1758396774.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298862 target range: 102.155609 and range: 102.60 m. 2025-09-20T19:32:54.276Z,1758396774.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.028527 2025-09-20T19:32:54.533Z,1758396774.533 [DAT](INFO): DAT read: 19:32:56.0961 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403, 0.11, 1.102,-0.828, 1.003, 0.708, PHS= 0.497,-1.491, 0.251, RAW= 143.5, 8.0, CAL= 143.1, 8.7, ROT= 6.9, -8.7 2025-09-20T19:32:54.535Z,1758396774.535 [DAT](INFO): got valid direction response: 19:32:56.0961 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403, 0.11, 1.102,-0.828, 1.003, 0.708, PHS= 0.497,-1.491, 0.251, RAW= 143.5, 8.0, CAL= 143.1, 8.7, ROT= 6.9, -8.7 2025-09-20T19:32:54.540Z,1758396774.540 [DAT](INFO): DAT read: Bearing 57.6, 13.5 (Local) 2025-09-20T19:32:54.541Z,1758396774.541 [DAT](INFO): Local bearing/azimuth received: Bearing 57.6, 13.5 (Local) 2025-09-20T19:32:54.542Z,1758396774.542 [DAT](INFO): DAT read: Range 11 to 50 : 100.0 m (Round-trip 133.4 ms) speed 0.7 m/s 2025-09-20T19:32:54.543Z,1758396774.543 [DAT](INFO): DAT read: Tx time:19:32:57.1617 2025-09-20T19:32:54.543Z,1758396774.543 [DAT](INFO): Ping request sent. 2025-09-20T19:32:54.544Z,1758396774.544 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:32:54.544Z,1758396774.544 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:54.545Z,1758396774.545 [DAT](INFO): direction in FSK: [0.981335,0.118755,0.151261] 2025-09-20T19:32:54.545Z,1758396774.545 [DAT](INFO): publishing transmit ping time 2025-09-20T19:32:54.545Z,1758396774.545 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:54.557Z,1758396774.557 [DAT](INFO): publishing transmit ping time 2025-09-20T19:32:54.557Z,1758396774.557 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:54.662Z,1758396774.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.000000 m, deltaT: 3.778340 s, deltaX: -2.599998 m, approachRate: -0.688132 m/s, rangeRepo size: 4 2025-09-20T19:32:54.673Z,1758396774.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.567650 m, bearing: 257.633032 deg, lat: 36.779349 deg, lon: -121.859556 deg, deltaT: 3.778340 s, deltaX: -2.587959 m, approachRate: -0.684946 m/s, posRepo size: 4 2025-09-20T19:32:54.673Z,1758396774.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:54.681Z,1758396774.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 94.123375 m, bearing: 257.359839 deg, approach rate: 0.000000 m/s, LOS rate: 0.028467 deg/s, cmd heading: 246.306648 deg, new cmd heading: 246.329439 deg. 2025-09-20T19:32:54.682Z,1758396774.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299260 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:55.148Z,1758396775.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:55.150Z,1758396775.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:55.153Z,1758396775.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 93.791687 m, bearing: 257.373407 deg, approach rate: -0.678937 m/s, LOS rate: 0.027872 deg/s, cmd heading: 246.329434 deg, new cmd heading: 246.356666 deg. 2025-09-20T19:32:55.154Z,1758396775.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299735 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:55.286Z,1758396775.286 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:32:55.286Z,1758396775.286 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:32:55.286Z,1758396775.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:55.524Z,1758396775.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:55.527Z,1758396775.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 93.524704 m, bearing: 257.384398 deg, approach rate: -0.714690 m/s, LOS rate: 0.029507 deg/s, cmd heading: 246.356672 deg, new cmd heading: 246.378718 deg. 2025-09-20T19:32:55.528Z,1758396775.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300120 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:55.536Z,1758396775.536 [DAT](INFO): DAT read: user:53> 2025-09-20T19:32:55.537Z,1758396775.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993307 2025-09-20T19:32:55.789Z,1758396775.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245108 2025-09-20T19:32:55.983Z,1758396775.983 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032723204175,35.0, .2, 0 2025-09-20T19:32:55.998Z,1758396775.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:56.001Z,1758396776.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 93.196960 m, bearing: 257.397891 deg, approach rate: -0.690676 m/s, LOS rate: 0.028533 deg/s, cmd heading: 246.378720 deg, new cmd heading: 246.405800 deg. 2025-09-20T19:32:56.002Z,1758396776.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300592 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:56.040Z,1758396776.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496413 2025-09-20T19:32:56.292Z,1758396776.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748408 2025-09-20T19:32:56.410Z,1758396776.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:56.429Z,1758396776.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 92.912079 m, bearing: 257.409696 deg, approach rate: -0.691135 m/s, LOS rate: 0.028729 deg/s, cmd heading: 246.405795 deg, new cmd heading: 246.429479 deg. 2025-09-20T19:32:56.430Z,1758396776.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301006 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:56.545Z,1758396776.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000979 2025-09-20T19:32:56.797Z,1758396776.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252765 2025-09-20T19:32:56.820Z,1758396776.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:56.825Z,1758396776.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 92.632538 m, bearing: 257.421257 deg, approach rate: -0.685230 m/s, LOS rate: 0.028425 deg/s, cmd heading: 246.429482 deg, new cmd heading: 246.452674 deg. 2025-09-20T19:32:56.827Z,1758396776.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301411 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:57.048Z,1758396777.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504640 2025-09-20T19:32:57.233Z,1758396777.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:57.235Z,1758396777.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:57.238Z,1758396777.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 92.338913 m, bearing: 257.435121 deg, approach rate: -0.705088 m/s, LOS rate: 0.033396 deg/s, cmd heading: 246.452678 deg, new cmd heading: 246.480492 deg. 2025-09-20T19:32:57.239Z,1758396777.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301896 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:57.300Z,1758396777.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756620 2025-09-20T19:32:57.552Z,1758396777.552 [DAT](INFO): DAT read: Rx Time:19:32:59.6959 2025-09-20T19:32:57.553Z,1758396777.553 [DAT](INFO): Rx dataTimestamp_ set to:1758396777.552352 2025-09-20T19:32:57.553Z,1758396777.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009595 2025-09-20T19:32:57.627Z,1758396777.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:57.633Z,1758396777.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 92.072227 m, bearing: 257.447847 deg, approach rate: -0.686930 m/s, LOS rate: 0.032875 deg/s, cmd heading: 246.480490 deg, new cmd heading: 246.506016 deg. 2025-09-20T19:32:57.634Z,1758396777.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302341 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:57.805Z,1758396777.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261147 2025-09-20T19:32:58.039Z,1758396778.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.57 m. 2025-09-20T19:32:58.041Z,1758396778.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.567650 m, nav range: 91.777832 m, bearing: 257.461392 deg, approach rate: -0.708586 m/s, LOS rate: 0.032707 deg/s, cmd heading: 246.506008 deg, new cmd heading: 246.533185 deg. 2025-09-20T19:32:58.042Z,1758396778.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302816 target range: 99.567650 and range: 100.00 m. 2025-09-20T19:32:58.061Z,1758396778.061 [DAT](INFO): DAT read: 19:32:59.6959 LVL= 29600, 32753, 32754, 32755, AGC= 65, IDX= 145,-0.19,-2.023, 2.287,-2.157,-2.417, PHS= 0.495,-1.535, 0.216, RAW= 142.7, 8.7, CAL= 142.3, 9.5, ROT= 7.7, -9.5 2025-09-20T19:32:58.062Z,1758396778.062 [DAT](INFO): got valid direction response: 19:32:59.6959 LVL= 29600, 32753, 32754, 32755, AGC= 65, IDX= 145,-0.19,-2.023, 2.287,-2.157,-2.417, PHS= 0.495,-1.535, 0.216, RAW= 142.7, 8.7, CAL= 142.3, 9.5, ROT= 7.7, -9.5 2025-09-20T19:32:58.064Z,1758396778.064 [DAT](INFO): DAT read: Bearing 58.7, 12.7 (Local) 2025-09-20T19:32:58.064Z,1758396778.064 [DAT](INFO): Local bearing/azimuth received: Bearing 58.7, 12.7 (Local) 2025-09-20T19:32:58.065Z,1758396778.065 [DAT](INFO): DAT read: Range 11 to 50 : 97.5 m (Round-trip 130.1 ms) speed 0.7 m/s 2025-09-20T19:32:58.066Z,1758396778.066 [DAT](INFO): DAT read: Tx time:19:33:00.7585 2025-09-20T19:32:58.066Z,1758396778.066 [DAT](INFO): Ping request sent. 2025-09-20T19:32:58.066Z,1758396778.066 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:32:58.067Z,1758396778.067 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:32:58.068Z,1758396778.068 [DAT](INFO): direction in FSK: [0.977392,0.132149,0.165048] 2025-09-20T19:32:58.068Z,1758396778.068 [DAT](INFO): publishing transmit ping time 2025-09-20T19:32:58.068Z,1758396778.068 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:58.071Z,1758396778.071 [DAT](INFO): publishing transmit ping time 2025-09-20T19:32:58.072Z,1758396778.072 [DAT](INFO): publishing direction and range info 2025-09-20T19:32:58.448Z,1758396778.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.500000 m, deltaT: 3.527968 s, deltaX: -2.500000 m, approachRate: -0.708623 m/s, rangeRepo size: 4 2025-09-20T19:32:58.450Z,1758396778.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.077873 m, bearing: 258.483847 deg, lat: 36.779349 deg, lon: -121.859564 deg, deltaT: 3.527968 s, deltaX: -2.489777 m, approachRate: -0.705725 m/s, posRepo size: 4 2025-09-20T19:32:58.451Z,1758396778.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.08 m. 2025-09-20T19:32:58.458Z,1758396778.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.077873 m, nav range: 92.221642 m, bearing: 257.571432 deg, approach rate: 0.000000 m/s, LOS rate: 0.032707 deg/s, cmd heading: 246.533192 deg, new cmd heading: 246.559394 deg. 2025-09-20T19:32:58.459Z,1758396778.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303273 target range: 97.077873 and range: 97.50 m. 2025-09-20T19:32:58.847Z,1758396778.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.08 m. 2025-09-20T19:32:58.850Z,1758396778.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.077873 m, nav range: 91.927513 m, bearing: 257.585396 deg, approach rate: -0.721124 m/s, LOS rate: 0.034344 deg/s, cmd heading: 246.559393 deg, new cmd heading: 246.587409 deg. 2025-09-20T19:32:58.867Z,1758396778.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303762 target range: 97.077873 and range: 97.50 m. 2025-09-20T19:32:59.254Z,1758396779.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:32:59.257Z,1758396779.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.08 m. 2025-09-20T19:32:59.260Z,1758396779.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.077873 m, nav range: 91.634644 m, bearing: 257.600993 deg, approach rate: -0.714056 m/s, LOS rate: 0.038150 deg/s, cmd heading: 246.587396 deg, new cmd heading: 246.618691 deg. 2025-09-20T19:32:59.261Z,1758396779.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304308 target range: 97.077873 and range: 97.50 m. 2025-09-20T19:32:59.318Z,1758396779.318 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:32:59.318Z,1758396779.318 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:32:59.318Z,1758396779.318 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:32:59.568Z,1758396779.568 [DAT](INFO): DAT read: user:54> 2025-09-20T19:32:59.569Z,1758396779.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502155 2025-09-20T19:32:59.631Z,1758396779.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.08 m. 2025-09-20T19:32:59.634Z,1758396779.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.077873 m, nav range: 91.368507 m, bearing: 257.615022 deg, approach rate: -0.712270 m/s, LOS rate: 0.037656 deg/s, cmd heading: 246.618679 deg, new cmd heading: 246.646819 deg. 2025-09-20T19:32:59.635Z,1758396779.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304799 target range: 97.077873 and range: 97.50 m. 2025-09-20T19:32:59.821Z,1758396779.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754375 2025-09-20T19:33:00.062Z,1758396780.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.08 m. 2025-09-20T19:33:00.065Z,1758396780.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.077873 m, nav range: 91.064796 m, bearing: 257.630550 deg, approach rate: -0.704533 m/s, LOS rate: 0.036140 deg/s, cmd heading: 246.646819 deg, new cmd heading: 246.677978 deg. 2025-09-20T19:33:00.066Z,1758396780.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305343 target range: 97.077873 and range: 97.50 m. 2025-09-20T19:33:00.072Z,1758396780.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005533 2025-09-20T19:33:00.325Z,1758396780.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258279 2025-09-20T19:33:00.440Z,1758396780.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.08 m. 2025-09-20T19:33:00.443Z,1758396780.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.077873 m, nav range: 90.798080 m, bearing: 257.644013 deg, approach rate: -0.704878 m/s, LOS rate: 0.035685 deg/s, cmd heading: 246.677965 deg, new cmd heading: 246.704970 deg. 2025-09-20T19:33:00.444Z,1758396780.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305814 target range: 97.077873 and range: 97.50 m. 2025-09-20T19:33:00.579Z,1758396780.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512316 2025-09-20T19:33:00.829Z,1758396780.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762452 2025-09-20T19:33:00.865Z,1758396780.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.08 m. 2025-09-20T19:33:00.868Z,1758396780.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.077873 m, nav range: 90.498619 m, bearing: 257.658909 deg, approach rate: -0.705285 m/s, LOS rate: 0.035200 deg/s, cmd heading: 246.704957 deg, new cmd heading: 246.734849 deg. 2025-09-20T19:33:00.869Z,1758396780.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306335 target range: 97.077873 and range: 97.50 m. 2025-09-20T19:33:01.080Z,1758396781.080 [DAT](INFO): DAT read: Rx Time:19:33:03.2895 2025-09-20T19:33:01.080Z,1758396781.080 [DAT](INFO): Rx dataTimestamp_ set to:1758396781.080211 2025-09-20T19:33:01.081Z,1758396781.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014528 2025-09-20T19:33:01.310Z,1758396781.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:01.314Z,1758396781.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.08 m. 2025-09-20T19:33:01.319Z,1758396781.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.077873 m, nav range: 90.204384 m, bearing: 257.677352 deg, approach rate: -0.655854 m/s, LOS rate: 0.041243 deg/s, cmd heading: 246.734846 deg, new cmd heading: 246.771852 deg. 2025-09-20T19:33:01.321Z,1758396781.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306981 target range: 97.077873 and range: 97.50 m. 2025-09-20T19:33:01.344Z,1758396781.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277492 2025-09-20T19:33:01.606Z,1758396781.606 [DAT](INFO): DAT read: 19:33:03.2895 LVL= 25488, 32305, 28242, 30803, AGC= 64, IDX= 415, 0.02,-1.335, 2.958,-1.492,-1.712, PHS= 0.479,-1.568, 0.175, RAW= 142.1, 9.6, CAL= 141.6, 10.5, ROT= 8.4, -10.5 2025-09-20T19:33:01.612Z,1758396781.612 [DAT](INFO): got valid direction response: 19:33:03.2895 LVL= 25488, 32305, 28242, 30803, AGC= 64, IDX= 415, 0.02,-1.335, 2.958,-1.492,-1.712, PHS= 0.479,-1.568, 0.175, RAW= 142.1, 9.6, CAL= 141.6, 10.5, ROT= 8.4, -10.5 2025-09-20T19:33:01.612Z,1758396781.612 [DAT](INFO): DAT read: Bearing 60.0, 12.5 (Local) 2025-09-20T19:33:01.613Z,1758396781.613 [DAT](INFO): Local bearing/azimuth received: Bearing 60.0, 12.5 (Local) 2025-09-20T19:33:01.614Z,1758396781.614 [DAT](INFO): DAT read: Range 11 to 50 : 95.1 m (Round-trip 126.8 ms) speed 0.6 m/s 2025-09-20T19:33:01.619Z,1758396781.619 [DAT](INFO): DAT read: user:55>Tx time:19:33:04.3585 2025-09-20T19:33:01.620Z,1758396781.620 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:01.621Z,1758396781.621 [DAT](INFO): direction in FSK: [0.972707,0.143637,0.182236] 2025-09-20T19:33:01.621Z,1758396781.621 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:01.628Z,1758396781.628 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:01.628Z,1758396781.628 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:01.629Z,1758396781.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:01.848Z,1758396781.848 [DAT](INFO): DAT read: 2025-09-20T19:33:01.849Z,1758396781.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782108 2025-09-20T19:33:01.899Z,1758396781.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.099998 m, deltaT: 3.540374 s, deltaX: -2.400002 m, approachRate: -0.677895 m/s, rangeRepo size: 4 2025-09-20T19:33:01.901Z,1758396781.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.686844 m, bearing: 259.878502 deg, lat: 36.779349 deg, lon: -121.859580 deg, deltaT: 3.540374 s, deltaX: -2.391029 m, approachRate: -0.675361 m/s, posRepo size: 4 2025-09-20T19:33:01.902Z,1758396781.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:01.909Z,1758396781.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 91.177391 m, bearing: 257.883618 deg, approach rate: 0.000000 m/s, LOS rate: 0.041243 deg/s, cmd heading: 246.771839 deg, new cmd heading: 246.819761 deg. 2025-09-20T19:33:01.910Z,1758396781.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307817 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:02.100Z,1758396782.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033432 2025-09-20T19:33:02.286Z,1758396782.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:02.289Z,1758396782.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 90.893196 m, bearing: 257.899624 deg, approach rate: -0.725276 m/s, LOS rate: 0.040975 deg/s, cmd heading: 246.819759 deg, new cmd heading: 246.851871 deg. 2025-09-20T19:33:02.290Z,1758396782.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308378 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:02.352Z,1758396782.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285533 2025-09-20T19:33:02.604Z,1758396782.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537459 2025-09-20T19:33:02.687Z,1758396782.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:02.693Z,1758396782.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 90.634796 m, bearing: 257.914009 deg, approach rate: -0.645556 m/s, LOS rate: 0.036042 deg/s, cmd heading: 246.851861 deg, new cmd heading: 246.880714 deg. 2025-09-20T19:33:02.694Z,1758396782.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308881 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:02.856Z,1758396782.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789399 2025-09-20T19:33:03.108Z,1758396783.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041866 2025-09-20T19:33:03.121Z,1758396783.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:03.124Z,1758396783.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 90.332870 m, bearing: 257.928747 deg, approach rate: -0.695596 m/s, LOS rate: 0.034068 deg/s, cmd heading: 246.880712 deg, new cmd heading: 246.910286 deg. 2025-09-20T19:33:03.124Z,1758396783.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309397 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:03.360Z,1758396783.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293496 2025-09-20T19:33:03.486Z,1758396783.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:03.493Z,1758396783.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:03.496Z,1758396783.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 90.097000 m, bearing: 257.940215 deg, approach rate: -0.633294 m/s, LOS rate: 0.030870 deg/s, cmd heading: 246.910273 deg, new cmd heading: 246.933268 deg. 2025-09-20T19:33:03.497Z,1758396783.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309799 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:03.612Z,1758396783.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545447 2025-09-20T19:33:03.864Z,1758396783.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797554 2025-09-20T19:33:03.878Z,1758396783.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:03.881Z,1758396783.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 89.824203 m, bearing: 257.953377 deg, approach rate: -0.708099 m/s, LOS rate: 0.034270 deg/s, cmd heading: 246.933277 deg, new cmd heading: 246.959682 deg. 2025-09-20T19:33:03.882Z,1758396783.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310259 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:04.116Z,1758396784.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049465 2025-09-20T19:33:04.312Z,1758396784.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:04.317Z,1758396784.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 89.534737 m, bearing: 257.966368 deg, approach rate: -0.668041 m/s, LOS rate: 0.030078 deg/s, cmd heading: 246.959669 deg, new cmd heading: 246.985735 deg. 2025-09-20T19:33:04.319Z,1758396784.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310714 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:04.371Z,1758396784.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304009 2025-09-20T19:33:04.620Z,1758396784.620 [DAT](INFO): DAT read: Rx Time:19:33:06.8862 2025-09-20T19:33:04.620Z,1758396784.620 [DAT](INFO): Rx dataTimestamp_ set to:1758396784.620171 2025-09-20T19:33:04.621Z,1758396784.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554475 2025-09-20T19:33:04.718Z,1758396784.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:04.725Z,1758396784.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 89.259239 m, bearing: 257.978750 deg, approach rate: -0.677267 m/s, LOS rate: 0.030533 deg/s, cmd heading: 246.985733 deg, new cmd heading: 247.010573 deg. 2025-09-20T19:33:04.726Z,1758396784.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311148 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:04.873Z,1758396784.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806946 2025-09-20T19:33:05.127Z,1758396785.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059849 2025-09-20T19:33:05.234Z,1758396785.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.69 m. 2025-09-20T19:33:05.241Z,1758396785.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.686844 m, nav range: 88.911385 m, bearing: 257.990672 deg, approach rate: -0.680376 m/s, LOS rate: 0.023410 deg/s, cmd heading: 247.010567 deg, new cmd heading: 247.034505 deg. 2025-09-20T19:33:05.241Z,1758396785.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311565 target range: 94.686844 and range: 95.10 m. 2025-09-20T19:33:05.382Z,1758396785.382 [DAT](INFO): DAT read: 19:33:06.8862 LVL= 31472, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.03,-1.643, 2.728,-1.790,-1.986, PHS= 0.445,-1.524, 0.152, RAW= 142.1, 10.1, CAL= 141.6, 11.0, ROT= 8.4, -11.0 2025-09-20T19:33:05.383Z,1758396785.383 [DAT](INFO): got valid direction response: 19:33:06.8862 LVL= 31472, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.03,-1.643, 2.728,-1.790,-1.986, PHS= 0.445,-1.524, 0.152, RAW= 142.1, 10.1, CAL= 141.6, 11.0, ROT= 8.4, -11.0 2025-09-20T19:33:05.384Z,1758396785.384 [DAT](INFO): DAT read: Bearing 60.9, 12.1 (Local) 2025-09-20T19:33:05.384Z,1758396785.384 [DAT](INFO): Local bearing/azimuth received: Bearing 60.9, 12.1 (Local) 2025-09-20T19:33:05.386Z,1758396785.386 [DAT](INFO): DAT read: Range 11 to 50 : 92.6 m (Round-trip 123.5 ms) speed 0.6 m/s 2025-09-20T19:33:05.387Z,1758396785.387 [DAT](INFO): DAT read: user:56>Tx time:19:33:07.9585 2025-09-20T19:33:05.387Z,1758396785.387 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:05.388Z,1758396785.388 [DAT](INFO): direction in FSK: [0.971097,0.143399,0.190809] 2025-09-20T19:33:05.388Z,1758396785.388 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:05.392Z,1758396785.392 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:05.392Z,1758396785.392 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:05.392Z,1758396785.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:05.607Z,1758396785.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.599998 m, deltaT: 3.779975 s, deltaX: -2.500000 m, approachRate: -0.661380 m/s, rangeRepo size: 4 2025-09-20T19:33:05.609Z,1758396785.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.195511 m, bearing: 260.306629 deg, lat: 36.779359 deg, lon: -121.859587 deg, deltaT: 3.779975 s, deltaX: -2.491333 m, approachRate: -0.659087 m/s, posRepo size: 4 2025-09-20T19:33:05.610Z,1758396785.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-09-20T19:33:05.617Z,1758396785.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.195511 m, nav range: 89.050278 m, bearing: 258.770298 deg, approach rate: 0.000000 m/s, LOS rate: 0.023410 deg/s, cmd heading: 247.034500 deg, new cmd heading: 247.051191 deg. 2025-09-20T19:33:05.618Z,1758396785.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311857 target range: 92.195511 and range: 92.60 m. 2025-09-20T19:33:05.628Z,1758396785.628 [DAT](INFO): DAT read: 2025-09-20T19:33:05.629Z,1758396785.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562045 2025-09-20T19:33:05.880Z,1758396785.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813478 2025-09-20T19:33:05.981Z,1758396785.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:05.983Z,1758396785.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-09-20T19:33:05.986Z,1758396785.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.195511 m, nav range: 88.775414 m, bearing: 258.782207 deg, approach rate: -0.692746 m/s, LOS rate: 0.030108 deg/s, cmd heading: 247.051193 deg, new cmd heading: 247.075085 deg. 2025-09-20T19:33:05.987Z,1758396785.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312274 target range: 92.195511 and range: 92.60 m. 2025-09-20T19:33:06.132Z,1758396786.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065377 2025-09-20T19:33:06.384Z,1758396786.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317491 2025-09-20T19:33:06.512Z,1758396786.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-09-20T19:33:06.515Z,1758396786.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.195511 m, nav range: 88.411705 m, bearing: 258.801147 deg, approach rate: -0.687358 m/s, LOS rate: 0.035941 deg/s, cmd heading: 247.075072 deg, new cmd heading: 247.113108 deg. 2025-09-20T19:33:06.516Z,1758396786.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312937 target range: 92.195511 and range: 92.60 m. 2025-09-20T19:33:06.636Z,1758396786.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569460 2025-09-20T19:33:06.888Z,1758396786.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821746 2025-09-20T19:33:06.938Z,1758396786.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-09-20T19:33:06.941Z,1758396786.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.195511 m, nav range: 88.119347 m, bearing: 258.816671 deg, approach rate: -0.686719 m/s, LOS rate: 0.036585 deg/s, cmd heading: 247.113102 deg, new cmd heading: 247.144253 deg. 2025-09-20T19:33:06.942Z,1758396786.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313481 target range: 92.195511 and range: 92.60 m. 2025-09-20T19:33:07.140Z,1758396787.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073484 2025-09-20T19:33:07.284Z,1758396787.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:33:07.392Z,1758396787.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325636 2025-09-20T19:33:07.445Z,1758396787.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-09-20T19:33:07.448Z,1758396787.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.195511 m, nav range: 87.766251 m, bearing: 258.833027 deg, approach rate: -0.696527 m/s, LOS rate: 0.032395 deg/s, cmd heading: 247.144248 deg, new cmd heading: 247.177093 deg. 2025-09-20T19:33:07.449Z,1758396787.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314054 target range: 92.195511 and range: 92.60 m. 2025-09-20T19:33:07.645Z,1758396787.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578231 2025-09-20T19:33:07.827Z,1758396787.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-09-20T19:33:07.830Z,1758396787.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.195511 m, nav range: 87.503601 m, bearing: 258.845456 deg, approach rate: -0.687881 m/s, LOS rate: 0.032650 deg/s, cmd heading: 247.177087 deg, new cmd heading: 247.202020 deg. 2025-09-20T19:33:07.831Z,1758396787.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314489 target range: 92.195511 and range: 92.60 m. 2025-09-20T19:33:07.897Z,1758396787.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830338 2025-09-20T19:33:08.148Z,1758396788.148 [DAT](INFO): Reached modem response timeout 2025-09-20T19:33:08.148Z,1758396788.148 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:33:08.148Z,1758396788.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:08.237Z,1758396788.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:08.239Z,1758396788.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-09-20T19:33:08.242Z,1758396788.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.195511 m, nav range: 87.217178 m, bearing: 258.859619 deg, approach rate: -0.694089 m/s, LOS rate: 0.034434 deg/s, cmd heading: 247.202031 deg, new cmd heading: 247.230450 deg. 2025-09-20T19:33:08.243Z,1758396788.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314985 target range: 92.195511 and range: 92.60 m. 2025-09-20T19:33:08.288Z,1758396788.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:33:08.400Z,1758396788.400 [DAT](INFO): DAT read: Rx Time:19:33:10.4829 2025-09-20T19:33:08.400Z,1758396788.400 [DAT](INFO): Rx dataTimestamp_ set to:1758396788.400166 2025-09-20T19:33:08.401Z,1758396788.401 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:33:08.608Z,1758396788.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-09-20T19:33:08.610Z,1758396788.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.195511 m, nav range: 86.963356 m, bearing: 258.872435 deg, approach rate: -0.689759 m/s, LOS rate: 0.034928 deg/s, cmd heading: 247.230445 deg, new cmd heading: 247.256151 deg. 2025-09-20T19:33:08.612Z,1758396788.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315434 target range: 92.195511 and range: 92.60 m. 2025-09-20T19:33:08.652Z,1758396788.652 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:33:08.910Z,1758396788.910 [DAT](INFO): DAT read: 19:33:10.4829 LVL= 28448, 32753, 30066, 32755, AGC= 66, IDX= 411,-0.02, 3.118, 1.164, 2.969, 2.741, PHS= 0.479,-1.532, 0.185, RAW= 142.2, 9.3, CAL= 141.7, 10.1, ROT= 8.3, -10.1 2025-09-20T19:33:08.911Z,1758396788.911 [DAT](INFO): got valid direction response: 19:33:10.4829 LVL= 28448, 32753, 30066, 32755, AGC= 66, IDX= 411,-0.02, 3.118, 1.164, 2.969, 2.741, PHS= 0.479,-1.532, 0.185, RAW= 142.2, 9.3, CAL= 141.7, 10.1, ROT= 8.3, -10.1 2025-09-20T19:33:08.912Z,1758396788.912 [DAT](INFO): DAT read: Bearing 59.7, 12.0 (Local) 2025-09-20T19:33:08.912Z,1758396788.912 [DAT](INFO): Local bearing/azimuth received: Bearing 59.7, 12.0 (Local) 2025-09-20T19:33:08.913Z,1758396788.913 [DAT](INFO): DAT read: Range 11 to 50 : 90.1 m (Round-trip 120.2 ms) speed 0.6 m/s 2025-09-20T19:33:08.914Z,1758396788.914 [DAT](INFO): DAT read: user:57> 2025-09-20T19:33:08.923Z,1758396788.923 [DAT](INFO): DAT read: Tx time:19:33:11.5585 2025-09-20T19:33:08.924Z,1758396788.924 [DAT](INFO): Ping request sent. 2025-09-20T19:33:08.924Z,1758396788.924 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:08.924Z,1758396788.924 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:08.925Z,1758396788.925 [DAT](INFO): direction in FSK: [0.974191,0.142119,0.175367] 2025-09-20T19:33:08.925Z,1758396788.925 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:08.925Z,1758396788.925 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:08.929Z,1758396788.929 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:08.929Z,1758396788.929 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:09.066Z,1758396789.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.099998 m, deltaT: 3.527770 s, deltaX: -2.500000 m, approachRate: -0.708663 m/s, rangeRepo size: 4 2025-09-20T19:33:09.077Z,1758396789.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.706161 m, bearing: 259.909221 deg, lat: 36.779372 deg, lon: -121.859590 deg, deltaT: 3.527770 s, deltaX: -2.489349 m, approachRate: -0.705644 m/s, posRepo size: 4 2025-09-20T19:33:09.077Z,1758396789.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:09.086Z,1758396789.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 86.683174 m, bearing: 259.882325 deg, approach rate: 0.000000 m/s, LOS rate: 0.034928 deg/s, cmd heading: 247.256154 deg, new cmd heading: 247.288180 deg. 2025-09-20T19:33:09.092Z,1758396789.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315993 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:09.490Z,1758396789.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:09.493Z,1758396789.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 86.380096 m, bearing: 259.903220 deg, approach rate: -0.714388 m/s, LOS rate: 0.049426 deg/s, cmd heading: 247.288174 deg, new cmd heading: 247.330111 deg. 2025-09-20T19:33:09.494Z,1758396789.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316725 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:09.871Z,1758396789.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:09.874Z,1758396789.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 86.118340 m, bearing: 259.921488 deg, approach rate: -0.686938 m/s, LOS rate: 0.048087 deg/s, cmd heading: 247.330111 deg, new cmd heading: 247.366758 deg. 2025-09-20T19:33:09.875Z,1758396789.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317364 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:10.318Z,1758396790.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:10.320Z,1758396790.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:10.323Z,1758396790.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 85.810112 m, bearing: 259.948011 deg, approach rate: -0.685768 m/s, LOS rate: 0.059222 deg/s, cmd heading: 247.366748 deg, new cmd heading: 247.419985 deg. 2025-09-20T19:33:10.324Z,1758396790.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318294 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:10.416Z,1758396790.416 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:10.416Z,1758396790.416 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:10.416Z,1758396790.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:10.668Z,1758396790.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744151 2025-09-20T19:33:10.684Z,1758396790.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:10.696Z,1758396790.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 85.552361 m, bearing: 259.970400 deg, approach rate: -0.708062 m/s, LOS rate: 0.061690 deg/s, cmd heading: 247.419996 deg, new cmd heading: 247.464910 deg. 2025-09-20T19:33:10.697Z,1758396790.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319077 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:10.923Z,1758396790.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999660 2025-09-20T19:33:11.100Z,1758396791.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:11.102Z,1758396791.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 85.263329 m, bearing: 259.995669 deg, approach rate: -0.695779 m/s, LOS rate: 0.061035 deg/s, cmd heading: 247.464912 deg, new cmd heading: 247.515621 deg. 2025-09-20T19:33:11.104Z,1758396791.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319963 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:11.175Z,1758396791.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250538 2025-09-20T19:33:11.424Z,1758396791.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500213 2025-09-20T19:33:11.525Z,1758396791.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:11.532Z,1758396791.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 84.985565 m, bearing: 260.021010 deg, approach rate: -0.654132 m/s, LOS rate: 0.059872 deg/s, cmd heading: 247.515619 deg, new cmd heading: 247.566466 deg. 2025-09-20T19:33:11.533Z,1758396791.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320850 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:11.676Z,1758396791.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752267 2025-09-20T19:33:11.888Z,1758396791.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:11.891Z,1758396791.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 84.722084 m, bearing: 260.045308 deg, approach rate: -0.724885 m/s, LOS rate: 0.067058 deg/s, cmd heading: 247.566463 deg, new cmd heading: 247.615211 deg. 2025-09-20T19:33:11.908Z,1758396791.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321701 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:11.930Z,1758396791.930 [DAT](INFO): DAT read: Rx Time:19:33:14.0794 2025-09-20T19:33:11.930Z,1758396791.930 [DAT](INFO): Rx dataTimestamp_ set to:1758396791.930029 2025-09-20T19:33:11.931Z,1758396791.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007132 2025-09-20T19:33:12.184Z,1758396792.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259844 2025-09-20T19:33:12.391Z,1758396792.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:12.397Z,1758396792.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.71 m. 2025-09-20T19:33:12.408Z,1758396792.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.706161 m, nav range: 84.379120 m, bearing: 260.075554 deg, approach rate: -0.674013 m/s, LOS rate: 0.059682 deg/s, cmd heading: 247.615203 deg, new cmd heading: 247.675940 deg. 2025-09-20T19:33:12.409Z,1758396792.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322761 target range: 89.706161 and range: 90.10 m. 2025-09-20T19:33:12.438Z,1758396792.438 [DAT](INFO): DAT read: 19:33:14.0794 LVL= 24848, 31457, 29490, 32755, AGC= 66, IDX= 409,-0.41, 1.290,-0.714, 1.143, 0.904, PHS= 0.488,-1.573, 0.195, RAW= 142.4, 9.3, CAL= 142.0, 10.1, ROT= 8.0, -10.1 2025-09-20T19:33:12.439Z,1758396792.439 [DAT](INFO): got valid direction response: 19:33:14.0794 LVL= 24848, 31457, 29490, 32755, AGC= 66, IDX= 409,-0.41, 1.290,-0.714, 1.143, 0.904, PHS= 0.488,-1.573, 0.195, RAW= 142.4, 9.3, CAL= 142.0, 10.1, ROT= 8.0, -10.1 2025-09-20T19:33:12.440Z,1758396792.440 [DAT](INFO): DAT read: Bearing 59.2, 12.4 (Local) 2025-09-20T19:33:12.440Z,1758396792.440 [DAT](INFO): Local bearing/azimuth received: Bearing 59.2, 12.4 (Local) 2025-09-20T19:33:12.442Z,1758396792.442 [DAT](INFO): DAT read: Range 11 to 50 : 87.5 m (Round-trip 116.7 ms) speed 0.6 m/s 2025-09-20T19:33:12.443Z,1758396792.443 [DAT](INFO): DAT read: user:58> 2025-09-20T19:33:12.444Z,1758396792.444 [DAT](INFO): DAT read: Tx time:19:33:15.1585 2025-09-20T19:33:12.444Z,1758396792.444 [DAT](INFO): Ping request sent. 2025-09-20T19:33:12.444Z,1758396792.444 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:12.444Z,1758396792.444 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:12.445Z,1758396792.445 [DAT](INFO): direction in FSK: [0.974922,0.137016,0.175367] 2025-09-20T19:33:12.446Z,1758396792.446 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:12.446Z,1758396792.446 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:12.449Z,1758396792.449 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:12.449Z,1758396792.449 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:12.821Z,1758396792.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.500000 m, deltaT: 3.528266 s, deltaX: -2.599998 m, approachRate: -0.736905 m/s, rangeRepo size: 4 2025-09-20T19:33:12.827Z,1758396792.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.117706 m, bearing: 259.313757 deg, lat: 36.779372 deg, lon: -121.859590 deg, deltaT: 3.528266 s, deltaX: -2.588455 m, approachRate: -0.733634 m/s, posRepo size: 4 2025-09-20T19:33:12.828Z,1758396792.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m. 2025-09-20T19:33:12.830Z,1758396792.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.117706 m, nav range: 84.113060 m, bearing: 260.099231 deg, approach rate: 0.000000 m/s, LOS rate: 0.059682 deg/s, cmd heading: 247.675937 deg, new cmd heading: 247.726457 deg. 2025-09-20T19:33:12.836Z,1758396792.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323642 target range: 87.117706 and range: 87.50 m. 2025-09-20T19:33:13.246Z,1758396793.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m. 2025-09-20T19:33:13.249Z,1758396793.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.117706 m, nav range: 83.791176 m, bearing: 260.128100 deg, approach rate: -0.755515 m/s, LOS rate: 0.068022 deg/s, cmd heading: 247.726453 deg, new cmd heading: 247.784414 deg. 2025-09-20T19:33:13.250Z,1758396793.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324654 target range: 87.117706 and range: 87.50 m. 2025-09-20T19:33:13.683Z,1758396793.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m. 2025-09-20T19:33:13.685Z,1758396793.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.117706 m, nav range: 83.488586 m, bearing: 260.156117 deg, approach rate: -0.693389 m/s, LOS rate: 0.064434 deg/s, cmd heading: 247.784401 deg, new cmd heading: 247.840638 deg. 2025-09-20T19:33:13.686Z,1758396793.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325635 target range: 87.117706 and range: 87.50 m. 2025-09-20T19:33:14.080Z,1758396794.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m. 2025-09-20T19:33:14.082Z,1758396794.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.117706 m, nav range: 83.213188 m, bearing: 260.181758 deg, approach rate: -0.694288 m/s, LOS rate: 0.064854 deg/s, cmd heading: 247.840627 deg, new cmd heading: 247.892077 deg. 2025-09-20T19:33:14.083Z,1758396794.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326533 target range: 87.117706 and range: 87.50 m. 2025-09-20T19:33:14.498Z,1758396794.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:14.501Z,1758396794.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m. 2025-09-20T19:33:14.508Z,1758396794.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.117706 m, nav range: 82.915512 m, bearing: 260.207092 deg, approach rate: -0.706317 m/s, LOS rate: 0.060329 deg/s, cmd heading: 247.892072 deg, new cmd heading: 247.942923 deg. 2025-09-20T19:33:14.509Z,1758396794.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327420 target range: 87.117706 and range: 87.50 m. 2025-09-20T19:33:14.736Z,1758396794.736 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:14.736Z,1758396794.736 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:14.736Z,1758396794.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:14.872Z,1758396794.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m. 2025-09-20T19:33:14.876Z,1758396794.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.117706 m, nav range: 82.652191 m, bearing: 260.229694 deg, approach rate: -0.708115 m/s, LOS rate: 0.060973 deg/s, cmd heading: 247.942916 deg, new cmd heading: 247.988263 deg. 2025-09-20T19:33:14.877Z,1758396794.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328212 target range: 87.117706 and range: 87.50 m. 2025-09-20T19:33:14.988Z,1758396794.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.544020 2025-09-20T19:33:15.244Z,1758396795.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.799297 2025-09-20T19:33:15.338Z,1758396795.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m. 2025-09-20T19:33:15.361Z,1758396795.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.117706 m, nav range: 82.331192 m, bearing: 260.256835 deg, approach rate: -0.689621 m/s, LOS rate: 0.058537 deg/s, cmd heading: 247.988268 deg, new cmd heading: 248.042763 deg. 2025-09-20T19:33:15.362Z,1758396795.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329163 target range: 87.117706 and range: 87.50 m. 2025-09-20T19:33:15.492Z,1758396795.492 [DAT](INFO): DAT read: Rx Time:19:33:17.6760 2025-09-20T19:33:15.493Z,1758396795.493 [DAT](INFO): Rx dataTimestamp_ set to:1758396795.492254 2025-09-20T19:33:15.493Z,1758396795.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.049067 2025-09-20T19:33:15.720Z,1758396795.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m. 2025-09-20T19:33:15.723Z,1758396795.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.117706 m, nav range: 82.073936 m, bearing: 260.278741 deg, approach rate: -0.673153 m/s, LOS rate: 0.057500 deg/s, cmd heading: 248.042773 deg, new cmd heading: 248.086722 deg. 2025-09-20T19:33:15.724Z,1758396795.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329930 target range: 87.117706 and range: 87.50 m. 2025-09-20T19:33:15.744Z,1758396795.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.300015 2025-09-20T19:33:16.002Z,1758396796.002 [DAT](INFO): DAT read: 19:33:17.6760 LVL= 30304, 31473, 32754, 32755, AGC= 61, IDX= 405, 0.37, 1.308,-0.596, 1.185, 0.939, PHS= 0.471,-1.489, 0.202, RAW= 142.7, 8.9, CAL= 142.3, 9.7, ROT= 7.7, -9.7 2025-09-20T19:33:16.003Z,1758396796.003 [DAT](INFO): got valid direction response: 19:33:17.6760 LVL= 30304, 31473, 32754, 32755, AGC= 61, IDX= 405, 0.37, 1.308,-0.596, 1.185, 0.939, PHS= 0.471,-1.489, 0.202, RAW= 142.7, 8.9, CAL= 142.3, 9.7, ROT= 7.7, -9.7 2025-09-20T19:33:16.004Z,1758396796.004 [DAT](INFO): DAT read: Bearing 58.5, 12.9 (Local) 2025-09-20T19:33:16.004Z,1758396796.004 [DAT](INFO): Local bearing/azimuth received: Bearing 58.5, 12.9 (Local) 2025-09-20T19:33:16.006Z,1758396796.006 [DAT](INFO): DAT read: Range 11 to 50 : 84.9 m (Round-trip 113.3 ms) speed 0.7 m/s 2025-09-20T19:33:16.006Z,1758396796.006 [DAT](INFO): DAT read: user:59> 2025-09-20T19:33:16.007Z,1758396796.007 [DAT](INFO): DAT read: Tx time:19:33:18.7585 2025-09-20T19:33:16.007Z,1758396796.007 [DAT](INFO): Ping request sent. 2025-09-20T19:33:16.008Z,1758396796.008 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:16.008Z,1758396796.008 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:16.009Z,1758396796.009 [DAT](INFO): direction in FSK: [0.976816,0.132071,0.168489] 2025-09-20T19:33:16.009Z,1758396796.009 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:16.009Z,1758396796.009 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:16.012Z,1758396796.012 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:16.013Z,1758396796.013 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:16.269Z,1758396796.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.900002 m, deltaT: 3.564067 s, deltaX: -2.599998 m, approachRate: -0.729503 m/s, rangeRepo size: 4 2025-09-20T19:33:16.280Z,1758396796.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.529816 m, bearing: 258.951197 deg, lat: 36.779372 deg, lon: -121.859590 deg, deltaT: 3.564067 s, deltaX: -2.587891 m, approachRate: -0.726106 m/s, posRepo size: 4 2025-09-20T19:33:16.281Z,1758396796.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:16.288Z,1758396796.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 81.735077 m, bearing: 260.307963 deg, approach rate: 0.000000 m/s, LOS rate: 0.057500 deg/s, cmd heading: 248.086732 deg, new cmd heading: 248.149806 deg. 2025-09-20T19:33:16.289Z,1758396796.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331031 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:16.661Z,1758396796.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:16.668Z,1758396796.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:16.670Z,1758396796.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 81.425774 m, bearing: 260.330369 deg, approach rate: -0.775293 m/s, LOS rate: 0.056375 deg/s, cmd heading: 248.149816 deg, new cmd heading: 248.194797 deg. 2025-09-20T19:33:16.675Z,1758396796.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331816 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:16.752Z,1758396796.752 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:16.752Z,1758396796.752 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:16.753Z,1758396796.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:17.004Z,1758396797.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996454 2025-09-20T19:33:17.037Z,1758396797.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:17.040Z,1758396797.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 81.149040 m, bearing: 260.350566 deg, approach rate: -0.749212 m/s, LOS rate: 0.054869 deg/s, cmd heading: 248.194786 deg, new cmd heading: 248.235319 deg. 2025-09-20T19:33:17.041Z,1758396797.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332524 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:17.258Z,1758396797.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250540 2025-09-20T19:33:17.464Z,1758396797.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:17.467Z,1758396797.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 80.851738 m, bearing: 260.374504 deg, approach rate: -0.696503 m/s, LOS rate: 0.056285 deg/s, cmd heading: 248.235330 deg, new cmd heading: 248.283381 deg. 2025-09-20T19:33:17.468Z,1758396797.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333363 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:17.509Z,1758396797.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501253 2025-09-20T19:33:17.760Z,1758396797.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752333 2025-09-20T19:33:17.844Z,1758396797.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:17.846Z,1758396797.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 80.587364 m, bearing: 260.395942 deg, approach rate: -0.696030 m/s, LOS rate: 0.056626 deg/s, cmd heading: 248.283387 deg, new cmd heading: 248.326403 deg. 2025-09-20T19:33:17.848Z,1758396797.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334113 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:18.012Z,1758396798.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004306 2025-09-20T19:33:18.267Z,1758396798.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258965 2025-09-20T19:33:18.336Z,1758396798.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:18.339Z,1758396798.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 80.255997 m, bearing: 260.421106 deg, approach rate: -0.672677 m/s, LOS rate: 0.051294 deg/s, cmd heading: 248.326390 deg, new cmd heading: 248.376926 deg. 2025-09-20T19:33:18.340Z,1758396798.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334995 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:18.516Z,1758396798.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508326 2025-09-20T19:33:18.647Z,1758396798.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:18.650Z,1758396798.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 80.045410 m, bearing: 260.437127 deg, approach rate: -0.677463 m/s, LOS rate: 0.051677 deg/s, cmd heading: 248.376933 deg, new cmd heading: 248.409061 deg. 2025-09-20T19:33:18.651Z,1758396798.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335556 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:18.769Z,1758396798.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761559 2025-09-20T19:33:19.020Z,1758396799.020 [DAT](INFO): DAT read: Rx Time:19:33:21.2727 2025-09-20T19:33:19.021Z,1758396799.021 [DAT](INFO): Rx dataTimestamp_ set to:1758396799.020410 2025-09-20T19:33:19.021Z,1758396799.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013595 2025-09-20T19:33:19.075Z,1758396799.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:19.087Z,1758396799.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:19.090Z,1758396799.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 79.755989 m, bearing: 260.459160 deg, approach rate: -0.670473 m/s, LOS rate: 0.051225 deg/s, cmd heading: 248.409062 deg, new cmd heading: 248.453287 deg. 2025-09-20T19:33:19.091Z,1758396799.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336328 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:19.276Z,1758396799.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267564 2025-09-20T19:33:19.494Z,1758396799.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.53 m. 2025-09-20T19:33:19.496Z,1758396799.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.529816 m, nav range: 79.468246 m, bearing: 260.483588 deg, approach rate: -0.693463 m/s, LOS rate: 0.059087 deg/s, cmd heading: 248.453295 deg, new cmd heading: 248.502329 deg. 2025-09-20T19:33:19.497Z,1758396799.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337184 target range: 84.529816 and range: 84.90 m. 2025-09-20T19:33:19.527Z,1758396799.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518797 2025-09-20T19:33:19.786Z,1758396799.786 [DAT](INFO): DAT read: 19:33:21.2727 LVL= 28512, 32753, 31090, 32755, AGC= 65, IDX= 403, 0.28, 2.847, 0.984, 2.787, 2.494, PHS= 0.455,-1.464, 0.249, RAW= 144.4, 8.4, CAL= 144.0, 9.1, ROT= 6.0, -9.1 2025-09-20T19:33:19.797Z,1758396799.797 [DAT](INFO): got valid direction response: 19:33:21.2727 LVL= 28512, 32753, 31090, 32755, AGC= 65, IDX= 403, 0.28, 2.847, 0.984, 2.787, 2.494, PHS= 0.455,-1.464, 0.249, RAW= 144.4, 8.4, CAL= 144.0, 9.1, ROT= 6.0, -9.1 2025-09-20T19:33:19.798Z,1758396799.798 [DAT](INFO): DAT read: Bearing 57.2, 12.5 (Local) 2025-09-20T19:33:19.799Z,1758396799.799 [DAT](INFO): Local bearing/azimuth received: Bearing 57.2, 12.5 (Local) 2025-09-20T19:33:19.801Z,1758396799.801 [DAT](INFO): DAT read: Range 11 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.8 m/s 2025-09-20T19:33:19.802Z,1758396799.802 [DAT](INFO): DAT read: user:60> 2025-09-20T19:33:19.823Z,1758396799.823 [DAT](INFO): DAT read: Tx time:19:33:22.3585 2025-09-20T19:33:19.823Z,1758396799.823 [DAT](INFO): Ping request sent. 2025-09-20T19:33:19.823Z,1758396799.823 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:19.824Z,1758396799.824 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:19.825Z,1758396799.825 [DAT](INFO): direction in FSK: [0.982005,0.103213,0.158158] 2025-09-20T19:33:19.825Z,1758396799.825 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:19.825Z,1758396799.825 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:19.842Z,1758396799.842 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:19.842Z,1758396799.842 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:19.948Z,1758396799.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.780455 s, deltaX: -2.400002 m, approachRate: -0.634845 m/s, rangeRepo size: 4 2025-09-20T19:33:19.950Z,1758396799.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.139435 m, bearing: 257.340774 deg, lat: 36.779362 deg, lon: -121.859589 deg, deltaT: 3.780455 s, deltaX: -2.390381 m, approachRate: -0.632300 m/s, posRepo size: 4 2025-09-20T19:33:19.956Z,1758396799.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:19.958Z,1758396799.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 79.270500 m, bearing: 259.673751 deg, approach rate: 0.000000 m/s, LOS rate: 0.059087 deg/s, cmd heading: 248.502335 deg, new cmd heading: 248.554439 deg. 2025-09-20T19:33:19.963Z,1758396799.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338093 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:20.385Z,1758396800.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:20.388Z,1758396800.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 78.961288 m, bearing: 259.697428 deg, approach rate: -0.686791 m/s, LOS rate: 0.052796 deg/s, cmd heading: 248.554436 deg, new cmd heading: 248.601976 deg. 2025-09-20T19:33:20.389Z,1758396800.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338923 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:20.748Z,1758396800.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:20.751Z,1758396800.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 78.698219 m, bearing: 259.717719 deg, approach rate: -0.723863 m/s, LOS rate: 0.056019 deg/s, cmd heading: 248.601974 deg, new cmd heading: 248.642692 deg. 2025-09-20T19:33:20.752Z,1758396800.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339633 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:21.135Z,1758396801.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:21.137Z,1758396801.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:21.140Z,1758396801.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 78.430923 m, bearing: 259.738476 deg, approach rate: -0.687668 m/s, LOS rate: 0.053585 deg/s, cmd heading: 248.642682 deg, new cmd heading: 248.684339 deg. 2025-09-20T19:33:21.141Z,1758396801.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340361 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:21.292Z,1758396801.292 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:21.292Z,1758396801.292 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:21.294Z,1758396801.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:21.540Z,1758396801.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716667 2025-09-20T19:33:21.561Z,1758396801.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:21.564Z,1758396801.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 78.138313 m, bearing: 259.762655 deg, approach rate: -0.690657 m/s, LOS rate: 0.057283 deg/s, cmd heading: 248.684346 deg, new cmd heading: 248.732884 deg. 2025-09-20T19:33:21.565Z,1758396801.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341208 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:21.793Z,1758396801.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969765 2025-09-20T19:33:21.930Z,1758396801.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:21.933Z,1758396801.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 77.883270 m, bearing: 259.783300 deg, approach rate: -0.690702 m/s, LOS rate: 0.056094 deg/s, cmd heading: 248.732895 deg, new cmd heading: 248.774321 deg. 2025-09-20T19:33:21.934Z,1758396801.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341931 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:22.044Z,1758396802.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220586 2025-09-20T19:33:22.309Z,1758396802.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475043 2025-09-20T19:33:22.414Z,1758396802.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:22.417Z,1758396802.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 77.568077 m, bearing: 259.808013 deg, approach rate: -0.651099 m/s, LOS rate: 0.051257 deg/s, cmd heading: 248.774314 deg, new cmd heading: 248.823940 deg. 2025-09-20T19:33:22.418Z,1758396802.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342797 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:22.548Z,1758396802.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724522 2025-09-20T19:33:22.784Z,1758396802.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:22.793Z,1758396802.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 77.318321 m, bearing: 259.827666 deg, approach rate: -0.674067 m/s, LOS rate: 0.053214 deg/s, cmd heading: 248.823928 deg, new cmd heading: 248.863362 deg. 2025-09-20T19:33:22.794Z,1758396802.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343485 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:22.800Z,1758396802.800 [DAT](INFO): DAT read: Rx Time:19:33:24.8694 2025-09-20T19:33:22.801Z,1758396802.801 [DAT](INFO): Rx dataTimestamp_ set to:1758396802.800973 2025-09-20T19:33:22.802Z,1758396802.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978729 2025-09-20T19:33:23.052Z,1758396803.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228623 2025-09-20T19:33:23.184Z,1758396803.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:23.186Z,1758396803.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.14 m. 2025-09-20T19:33:23.205Z,1758396803.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.139435 m, nav range: 77.029381 m, bearing: 259.850383 deg, approach rate: -0.718789 m/s, LOS rate: 0.056726 deg/s, cmd heading: 248.863352 deg, new cmd heading: 248.908957 deg. 2025-09-20T19:33:23.206Z,1758396803.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344281 target range: 82.139435 and range: 82.50 m. 2025-09-20T19:33:23.332Z,1758396803.332 [DAT](INFO): DAT read: 19:33:24.8694 LVL= 25744, 32753, 28258, 32755, AGC= 64, IDX= 401,-0.06,-0.354,-2.203,-0.396,-0.692, PHS= 0.440,-1.466, 0.252, RAW= 144.9, 8.5, CAL= 144.4, 9.3, ROT= 5.6, -9.3 2025-09-20T19:33:23.341Z,1758396803.341 [DAT](INFO): got valid direction response: 19:33:24.8694 LVL= 25744, 32753, 28258, 32755, AGC= 64, IDX= 401,-0.06,-0.354,-2.203,-0.396,-0.692, PHS= 0.440,-1.466, 0.252, RAW= 144.9, 8.5, CAL= 144.4, 9.3, ROT= 5.6, -9.3 2025-09-20T19:33:23.348Z,1758396803.348 [DAT](INFO): DAT read: Bearing 57.0, 13.1 (Local) 2025-09-20T19:33:23.349Z,1758396803.349 [DAT](INFO): Local bearing/azimuth received: Bearing 57.0, 13.1 (Local) 2025-09-20T19:33:23.362Z,1758396803.362 [DAT](INFO): DAT read: Range 11 to 50 : 80.0 m (Round-trip 106.7 ms) speed 0.6 m/s 2025-09-20T19:33:23.369Z,1758396803.369 [DAT](INFO): DAT read: user:61> 2025-09-20T19:33:23.375Z,1758396803.375 [DAT](INFO): DAT read: Tx time:19:33:25.9585 2025-09-20T19:33:23.376Z,1758396803.376 [DAT](INFO): Ping request sent. 2025-09-20T19:33:23.376Z,1758396803.376 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:23.376Z,1758396803.376 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:23.377Z,1758396803.377 [DAT](INFO): direction in FSK: [0.982146,0.096300,0.161604] 2025-09-20T19:33:23.377Z,1758396803.377 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:23.377Z,1758396803.377 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:23.395Z,1758396803.395 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:23.395Z,1758396803.395 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:23.608Z,1758396803.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.000000 m, deltaT: 3.528275 s, deltaX: -2.500000 m, approachRate: -0.708562 m/s, rangeRepo size: 4 2025-09-20T19:33:23.610Z,1758396803.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.650429 m, bearing: 257.247477 deg, lat: 36.779355 deg, lon: -121.859584 deg, deltaT: 3.528275 s, deltaX: -2.489006 m, approachRate: -0.705446 m/s, posRepo size: 4 2025-09-20T19:33:23.611Z,1758396803.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.65 m. 2025-09-20T19:33:23.613Z,1758396803.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.650429 m, nav range: 76.452362 m, bearing: 259.292194 deg, approach rate: 0.000000 m/s, LOS rate: 0.056726 deg/s, cmd heading: 248.908950 deg, new cmd heading: 248.956695 deg. 2025-09-20T19:33:23.614Z,1758396803.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345114 target range: 79.650429 and range: 80.00 m. 2025-09-20T19:33:23.989Z,1758396803.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.65 m. 2025-09-20T19:33:23.998Z,1758396803.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.650429 m, nav range: 76.195328 m, bearing: 259.312069 deg, approach rate: -0.673660 m/s, LOS rate: 0.052267 deg/s, cmd heading: 248.956707 deg, new cmd heading: 248.996592 deg. 2025-09-20T19:33:23.999Z,1758396803.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345810 target range: 79.650429 and range: 80.00 m. 2025-09-20T19:33:24.425Z,1758396804.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.65 m. 2025-09-20T19:33:24.428Z,1758396804.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.650429 m, nav range: 75.881615 m, bearing: 259.338803 deg, approach rate: -0.718719 m/s, LOS rate: 0.061501 deg/s, cmd heading: 248.996595 deg, new cmd heading: 249.050284 deg. 2025-09-20T19:33:24.429Z,1758396804.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346747 target range: 79.650429 and range: 80.00 m. 2025-09-20T19:33:24.833Z,1758396804.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.65 m. 2025-09-20T19:33:24.840Z,1758396804.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.650429 m, nav range: 75.617683 m, bearing: 259.361277 deg, approach rate: -0.647020 m/s, LOS rate: 0.055288 deg/s, cmd heading: 249.050281 deg, new cmd heading: 249.095386 deg. 2025-09-20T19:33:24.841Z,1758396804.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347535 target range: 79.650429 and range: 80.00 m. 2025-09-20T19:33:25.185Z,1758396805.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.65 m. 2025-09-20T19:33:25.188Z,1758396805.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.650429 m, nav range: 75.359947 m, bearing: 259.383292 deg, approach rate: -0.731914 m/s, LOS rate: 0.062730 deg/s, cmd heading: 249.095387 deg, new cmd heading: 249.139567 deg. 2025-09-20T19:33:25.189Z,1758396805.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348306 target range: 79.650429 and range: 80.00 m. 2025-09-20T19:33:25.613Z,1758396805.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:25.616Z,1758396805.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.65 m. 2025-09-20T19:33:25.619Z,1758396805.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.650429 m, nav range: 75.060997 m, bearing: 259.408642 deg, approach rate: -0.693866 m/s, LOS rate: 0.059073 deg/s, cmd heading: 249.139565 deg, new cmd heading: 249.190468 deg. 2025-09-20T19:33:25.620Z,1758396805.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349194 target range: 79.650429 and range: 80.00 m. 2025-09-20T19:33:25.829Z,1758396805.829 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:25.829Z,1758396805.829 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:25.830Z,1758396805.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:25.994Z,1758396805.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.65 m. 2025-09-20T19:33:25.997Z,1758396805.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.650429 m, nav range: 74.797279 m, bearing: 259.431050 deg, approach rate: -0.698277 m/s, LOS rate: 0.059540 deg/s, cmd heading: 249.190463 deg, new cmd heading: 249.235436 deg. 2025-09-20T19:33:25.998Z,1758396805.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349979 target range: 79.650429 and range: 80.00 m. 2025-09-20T19:33:26.081Z,1758396806.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705277 2025-09-20T19:33:26.332Z,1758396806.332 [DAT](INFO): DAT read: Rx Time:19:33:28.4660 2025-09-20T19:33:26.332Z,1758396806.332 [DAT](INFO): Rx dataTimestamp_ set to:1758396806.332163 2025-09-20T19:33:26.333Z,1758396806.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957182 2025-09-20T19:33:26.477Z,1758396806.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.65 m. 2025-09-20T19:33:26.480Z,1758396806.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.650429 m, nav range: 74.476837 m, bearing: 259.460274 deg, approach rate: -0.662894 m/s, LOS rate: 0.060717 deg/s, cmd heading: 249.235433 deg, new cmd heading: 249.294134 deg. 2025-09-20T19:33:26.481Z,1758396806.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351004 target range: 79.650429 and range: 80.00 m. 2025-09-20T19:33:26.584Z,1758396806.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208555 2025-09-20T19:33:26.842Z,1758396806.842 [DAT](INFO): DAT read: 19:33:28.4660 LVL= 27920, 32753, 30066, 32755, AGC= 60, IDX= 415,-0.32,-0.508,-2.342,-0.532,-0.843, PHS= 0.437,-1.454, 0.267, RAW= 145.3, 8.3, CAL= 144.9, 9.1, ROT= 5.1, -9.1 2025-09-20T19:33:26.843Z,1758396806.843 [DAT](INFO): got valid direction response: 19:33:28.4660 LVL= 27920, 32753, 30066, 32755, AGC= 60, IDX= 415,-0.32,-0.508,-2.342,-0.532,-0.843, PHS= 0.437,-1.454, 0.267, RAW= 145.3, 8.3, CAL= 144.9, 9.1, ROT= 5.1, -9.1 2025-09-20T19:33:26.844Z,1758396806.844 [DAT](INFO): DAT read: Bearing 56.6, 13.2 (Local) 2025-09-20T19:33:26.844Z,1758396806.844 [DAT](INFO): Local bearing/azimuth received: Bearing 56.6, 13.2 (Local) 2025-09-20T19:33:26.846Z,1758396806.846 [DAT](INFO): DAT read: Range 11 to 50 : 77.4 m (Round-trip 103.3 ms) speed 0.7 m/s 2025-09-20T19:33:26.846Z,1758396806.846 [DAT](INFO): DAT read: user:62> 2025-09-20T19:33:26.847Z,1758396806.847 [DAT](INFO): DAT read: Tx time:19:33:29.5585 2025-09-20T19:33:26.847Z,1758396806.847 [DAT](INFO): Ping request sent. 2025-09-20T19:33:26.848Z,1758396806.848 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:26.848Z,1758396806.848 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:26.849Z,1758396806.849 [DAT](INFO): direction in FSK: [0.983505,0.087775,0.158158] 2025-09-20T19:33:26.849Z,1758396806.849 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:26.849Z,1758396806.849 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:26.856Z,1758396806.856 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:26.857Z,1758396806.857 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:26.873Z,1758396806.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.530960 s, deltaX: -2.599998 m, approachRate: -0.736343 m/s, rangeRepo size: 4 2025-09-20T19:33:26.875Z,1758396806.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.062286 m, bearing: 257.195407 deg, lat: 36.779334 deg, lon: -121.859579 deg, deltaT: 3.530960 s, deltaX: -2.588142 m, approachRate: -0.732985 m/s, posRepo size: 4 2025-09-20T19:33:26.892Z,1758396806.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:26.894Z,1758396806.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 74.245148 m, bearing: 257.603498 deg, approach rate: 0.000000 m/s, LOS rate: 0.060717 deg/s, cmd heading: 249.294146 deg, new cmd heading: 249.342068 deg. 2025-09-20T19:33:26.904Z,1758396806.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351840 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:27.244Z,1758396807.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:27.263Z,1758396807.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 73.982063 m, bearing: 257.620580 deg, approach rate: -0.706498 m/s, LOS rate: 0.046037 deg/s, cmd heading: 249.342066 deg, new cmd heading: 249.376353 deg. 2025-09-20T19:33:27.265Z,1758396807.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352438 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:27.665Z,1758396807.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:27.668Z,1758396807.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:27.670Z,1758396807.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 73.688805 m, bearing: 257.635652 deg, approach rate: -0.692605 m/s, LOS rate: 0.035738 deg/s, cmd heading: 249.376354 deg, new cmd heading: 249.406618 deg. 2025-09-20T19:33:27.671Z,1758396807.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352967 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:27.844Z,1758396807.844 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:27.844Z,1758396807.844 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:27.844Z,1758396807.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:28.075Z,1758396808.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:28.078Z,1758396808.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 73.416977 m, bearing: 257.649476 deg, approach rate: -0.695071 m/s, LOS rate: 0.035479 deg/s, cmd heading: 249.406625 deg, new cmd heading: 249.434375 deg. 2025-09-20T19:33:28.078Z,1758396808.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353451 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:28.096Z,1758396808.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248539 2025-09-20T19:33:28.349Z,1758396808.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501064 2025-09-20T19:33:28.483Z,1758396808.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:28.486Z,1758396808.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 73.121704 m, bearing: 257.662033 deg, approach rate: -0.695960 m/s, LOS rate: 0.029717 deg/s, cmd heading: 249.434383 deg, new cmd heading: 249.459599 deg. 2025-09-20T19:33:28.487Z,1758396808.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353891 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:28.600Z,1758396808.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752583 2025-09-20T19:33:28.852Z,1758396808.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004438 2025-09-20T19:33:28.873Z,1758396808.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:28.876Z,1758396808.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 72.850121 m, bearing: 257.673459 deg, approach rate: -0.696009 m/s, LOS rate: 0.029390 deg/s, cmd heading: 249.459600 deg, new cmd heading: 249.482536 deg. 2025-09-20T19:33:28.877Z,1758396808.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354292 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:29.104Z,1758396809.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256453 2025-09-20T19:33:29.295Z,1758396809.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:29.303Z,1758396809.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 72.570587 m, bearing: 257.685068 deg, approach rate: -0.663441 m/s, LOS rate: 0.027659 deg/s, cmd heading: 249.482550 deg, new cmd heading: 249.505857 deg. 2025-09-20T19:33:29.304Z,1758396809.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354699 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:29.357Z,1758396809.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509340 2025-09-20T19:33:29.608Z,1758396809.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760398 2025-09-20T19:33:29.705Z,1758396809.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:29.711Z,1758396809.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:29.714Z,1758396809.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 72.274811 m, bearing: 257.697577 deg, approach rate: -0.717602 m/s, LOS rate: 0.030474 deg/s, cmd heading: 249.505854 deg, new cmd heading: 249.530975 deg. 2025-09-20T19:33:29.719Z,1758396809.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355137 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:29.861Z,1758396809.861 [DAT](INFO): DAT read: Rx Time:19:33:32.0625 2025-09-20T19:33:29.862Z,1758396809.862 [DAT](INFO): Rx dataTimestamp_ set to:1758396809.861630 2025-09-20T19:33:29.862Z,1758396809.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014921 2025-09-20T19:33:30.080Z,1758396810.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.06 m. 2025-09-20T19:33:30.082Z,1758396810.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.062286 m, nav range: 72.007469 m, bearing: 257.708823 deg, approach rate: -0.716568 m/s, LOS rate: 0.030255 deg/s, cmd heading: 249.530962 deg, new cmd heading: 249.553538 deg. 2025-09-20T19:33:30.084Z,1758396810.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355531 target range: 77.062286 and range: 77.40 m. 2025-09-20T19:33:30.112Z,1758396810.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264339 2025-09-20T19:33:30.370Z,1758396810.370 [DAT](INFO): DAT read: 19:33:32.0625 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411,-0.07,-0.864,-2.722,-0.845,-1.221, PHS= 0.459,-1.456, 0.332, RAW= 146.6, 7.2, CAL= 146.1, 7.8, ROT= 3.9, -7.8 2025-09-20T19:33:30.371Z,1758396810.371 [DAT](INFO): got valid direction response: 19:33:32.0625 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411,-0.07,-0.864,-2.722,-0.845,-1.221, PHS= 0.459,-1.456, 0.332, RAW= 146.6, 7.2, CAL= 146.1, 7.8, ROT= 3.9, -7.8 2025-09-20T19:33:30.372Z,1758396810.372 [DAT](INFO): DAT read: Bearing 55.6, 12.8 (Local) 2025-09-20T19:33:30.372Z,1758396810.372 [DAT](INFO): Local bearing/azimuth received: Bearing 55.6, 12.8 (Local) 2025-09-20T19:33:30.374Z,1758396810.374 [DAT](INFO): DAT read: Range 11 to 50 : 74.9 m (Round-trip 99.9 ms) speed 0.7 m/s 2025-09-20T19:33:30.374Z,1758396810.374 [DAT](INFO): DAT read: user:63> 2025-09-20T19:33:30.375Z,1758396810.375 [DAT](INFO): DAT read: Tx time:19:33:33.1585 2025-09-20T19:33:30.375Z,1758396810.375 [DAT](INFO): Ping request sent. 2025-09-20T19:33:30.375Z,1758396810.375 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:30.376Z,1758396810.376 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:30.377Z,1758396810.377 [DAT](INFO): direction in FSK: [0.988454,0.067386,0.135716] 2025-09-20T19:33:30.377Z,1758396810.377 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:30.377Z,1758396810.377 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:30.385Z,1758396810.385 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:30.385Z,1758396810.385 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:30.590Z,1758396810.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.900002 m, deltaT: 3.528162 s, deltaX: -2.500000 m, approachRate: -0.708584 m/s, rangeRepo size: 4 2025-09-20T19:33:30.608Z,1758396810.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.573257 m, bearing: 256.435629 deg, lat: 36.779332 deg, lon: -121.859576 deg, deltaT: 3.528162 s, deltaX: -2.489029 m, approachRate: -0.705475 m/s, posRepo size: 4 2025-09-20T19:33:30.609Z,1758396810.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:30.617Z,1758396810.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 71.416550 m, bearing: 257.490062 deg, approach rate: 0.000000 m/s, LOS rate: 0.030255 deg/s, cmd heading: 249.553529 deg, new cmd heading: 249.584345 deg. 2025-09-20T19:33:30.618Z,1758396810.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356069 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:30.624Z,1758396810.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 59.959274 m. 2025-09-20T19:33:30.899Z,1758396810.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:30.902Z,1758396810.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 71.190582 m, bearing: 257.497997 deg, approach rate: -0.729402 m/s, LOS rate: 0.025694 deg/s, cmd heading: 249.584347 deg, new cmd heading: 249.600267 deg. 2025-09-20T19:33:30.903Z,1758396810.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356347 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:31.299Z,1758396811.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:31.302Z,1758396811.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 70.909264 m, bearing: 257.507703 deg, approach rate: -0.703545 m/s, LOS rate: 0.024369 deg/s, cmd heading: 249.600275 deg, new cmd heading: 249.619763 deg. 2025-09-20T19:33:31.302Z,1758396811.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356687 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:31.740Z,1758396811.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:31.748Z,1758396811.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:31.765Z,1758396811.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 70.619476 m, bearing: 257.518220 deg, approach rate: -0.645382 m/s, LOS rate: 0.023518 deg/s, cmd heading: 249.619754 deg, new cmd heading: 249.640874 deg. 2025-09-20T19:33:31.779Z,1758396811.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357055 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:31.876Z,1758396811.876 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:31.876Z,1758396811.876 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:31.877Z,1758396811.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:32.129Z,1758396812.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753207 2025-09-20T19:33:32.154Z,1758396812.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:32.157Z,1758396812.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 70.322311 m, bearing: 257.528982 deg, approach rate: -0.730787 m/s, LOS rate: 0.026580 deg/s, cmd heading: 249.640873 deg, new cmd heading: 249.662490 deg. 2025-09-20T19:33:32.158Z,1758396812.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357432 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:32.380Z,1758396812.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004860 2025-09-20T19:33:32.573Z,1758396812.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:32.576Z,1758396812.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 70.021622 m, bearing: 257.539108 deg, approach rate: -0.718391 m/s, LOS rate: 0.024296 deg/s, cmd heading: 249.662484 deg, new cmd heading: 249.682823 deg. 2025-09-20T19:33:32.577Z,1758396812.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357787 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:32.633Z,1758396812.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257659 2025-09-20T19:33:32.884Z,1758396812.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508630 2025-09-20T19:33:32.977Z,1758396812.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:32.980Z,1758396812.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 69.741676 m, bearing: 257.548615 deg, approach rate: -0.692533 m/s, LOS rate: 0.023611 deg/s, cmd heading: 249.682811 deg, new cmd heading: 249.701899 deg. 2025-09-20T19:33:32.981Z,1758396812.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358120 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:33.137Z,1758396813.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761535 2025-09-20T19:33:33.388Z,1758396813.388 [DAT](INFO): DAT read: Rx Time:19:33:35.6591 2025-09-20T19:33:33.389Z,1758396813.389 [DAT](INFO): Rx dataTimestamp_ set to:1758396813.388290 2025-09-20T19:33:33.389Z,1758396813.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013727 2025-09-20T19:33:33.499Z,1758396813.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:33.517Z,1758396813.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 69.411186 m, bearing: 257.558982 deg, approach rate: -0.640870 m/s, LOS rate: 0.020199 deg/s, cmd heading: 249.701908 deg, new cmd heading: 249.722741 deg. 2025-09-20T19:33:33.560Z,1758396813.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358484 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:33.640Z,1758396813.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264991 2025-09-20T19:33:33.895Z,1758396813.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519479 2025-09-20T19:33:34.013Z,1758396814.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:34.015Z,1758396814.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.57 m. 2025-09-20T19:33:34.018Z,1758396814.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.573257 m, nav range: 69.031754 m, bearing: 257.577870 deg, approach rate: -0.727317 m/s, LOS rate: 0.036405 deg/s, cmd heading: 249.722754 deg, new cmd heading: 249.760738 deg. 2025-09-20T19:33:34.018Z,1758396814.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359147 target range: 74.573257 and range: 74.90 m. 2025-09-20T19:33:34.150Z,1758396814.150 [DAT](INFO): DAT read: 19:33:35.6591 LVL= 27872, 30321, 30882, 32755, AGC= 62, IDX= 408,-0.24, 2.312, 0.541, 2.356, 1.988, PHS= 0.426,-1.402, 0.324, RAW= 147.2, 7.4, CAL= 146.7, 8.0, ROT= 3.3, -8.0 2025-09-20T19:33:34.151Z,1758396814.151 [DAT](INFO): got valid direction response: 19:33:35.6591 LVL= 27872, 30321, 30882, 32755, AGC= 62, IDX= 408,-0.24, 2.312, 0.541, 2.356, 1.988, PHS= 0.426,-1.402, 0.324, RAW= 147.2, 7.4, CAL= 146.7, 8.0, ROT= 3.3, -8.0 2025-09-20T19:33:34.152Z,1758396814.152 [DAT](INFO): DAT read: Bearing 56.0, 12.7 (Local) 2025-09-20T19:33:34.152Z,1758396814.152 [DAT](INFO): Local bearing/azimuth received: Bearing 56.0, 12.7 (Local) 2025-09-20T19:33:34.153Z,1758396814.153 [DAT](INFO): DAT read: Range 11 to 50 : 72.3 m (Round-trip 96.4 ms) speed 0.6 m/s 2025-09-20T19:33:34.154Z,1758396814.154 [DAT](INFO): DAT read: user:64> 2025-09-20T19:33:34.155Z,1758396814.155 [DAT](INFO): DAT read: Tx time:19:33:36.7585 2025-09-20T19:33:34.155Z,1758396814.155 [DAT](INFO): Ping request sent. 2025-09-20T19:33:34.155Z,1758396814.155 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:34.155Z,1758396814.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:34.156Z,1758396814.156 [DAT](INFO): direction in FSK: [0.988626,0.057004,0.139173] 2025-09-20T19:33:34.157Z,1758396814.157 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:34.157Z,1758396814.157 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:34.177Z,1758396814.177 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:34.177Z,1758396814.177 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:34.574Z,1758396814.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.300003 m, deltaT: 3.779728 s, deltaX: -2.599998 m, approachRate: -0.687880 m/s, rangeRepo size: 4 2025-09-20T19:33:34.577Z,1758396814.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.984283 m, bearing: 256.307706 deg, lat: 36.779330 deg, lon: -121.859573 deg, deltaT: 3.779728 s, deltaX: -2.588974 m, approachRate: -0.684963 m/s, posRepo size: 4 2025-09-20T19:33:34.577Z,1758396814.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m. 2025-09-20T19:33:34.580Z,1758396814.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.984283 m, nav range: 68.419006 m, bearing: 257.431858 deg, approach rate: 0.000000 m/s, LOS rate: 0.036405 deg/s, cmd heading: 249.760729 deg, new cmd heading: 249.801437 deg. 2025-09-20T19:33:34.581Z,1758396814.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359858 target range: 71.984283 and range: 72.30 m. 2025-09-20T19:33:35.053Z,1758396815.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m. 2025-09-20T19:33:35.072Z,1758396815.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.984283 m, nav range: 68.090805 m, bearing: 257.445558 deg, approach rate: -0.684352 m/s, LOS rate: 0.028705 deg/s, cmd heading: 249.801437 deg, new cmd heading: 249.828970 deg. 2025-09-20T19:33:35.073Z,1758396815.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360338 target range: 71.984283 and range: 72.30 m. 2025-09-20T19:33:35.462Z,1758396815.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m. 2025-09-20T19:33:35.464Z,1758396815.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.984283 m, nav range: 67.813553 m, bearing: 257.456999 deg, approach rate: -0.678927 m/s, LOS rate: 0.028130 deg/s, cmd heading: 249.828977 deg, new cmd heading: 249.851952 deg. 2025-09-20T19:33:35.465Z,1758396815.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360739 target range: 71.984283 and range: 72.30 m. 2025-09-20T19:33:35.901Z,1758396815.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m. 2025-09-20T19:33:35.933Z,1758396815.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.984283 m, nav range: 67.529495 m, bearing: 257.470757 deg, approach rate: -0.646457 m/s, LOS rate: 0.031443 deg/s, cmd heading: 249.851953 deg, new cmd heading: 249.879586 deg. 2025-09-20T19:33:35.936Z,1758396815.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361221 target range: 71.984283 and range: 72.30 m. 2025-09-20T19:33:36.287Z,1758396816.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:36.289Z,1758396816.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m. 2025-09-20T19:33:36.292Z,1758396816.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.984283 m, nav range: 67.247543 m, bearing: 257.484331 deg, approach rate: -0.725708 m/s, LOS rate: 0.035082 deg/s, cmd heading: 249.879575 deg, new cmd heading: 249.906835 deg. 2025-09-20T19:33:36.293Z,1758396816.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361697 target range: 71.984283 and range: 72.30 m. 2025-09-20T19:33:36.413Z,1758396816.413 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:36.413Z,1758396816.413 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:36.413Z,1758396816.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:36.668Z,1758396816.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512244 2025-09-20T19:33:36.789Z,1758396816.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m. 2025-09-20T19:33:36.809Z,1758396816.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.984283 m, nav range: 66.909172 m, bearing: 257.501820 deg, approach rate: -0.678292 m/s, LOS rate: 0.035237 deg/s, cmd heading: 249.906841 deg, new cmd heading: 249.941997 deg. 2025-09-20T19:33:36.812Z,1758396816.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362311 target range: 71.984283 and range: 72.30 m. 2025-09-20T19:33:36.916Z,1758396816.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760741 2025-09-20T19:33:37.150Z,1758396817.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m. 2025-09-20T19:33:37.153Z,1758396817.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.984283 m, nav range: 66.658386 m, bearing: 257.514760 deg, approach rate: -0.693647 m/s, LOS rate: 0.035926 deg/s, cmd heading: 249.942003 deg, new cmd heading: 249.967980 deg. 2025-09-20T19:33:37.154Z,1758396817.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362764 target range: 71.984283 and range: 72.30 m. 2025-09-20T19:33:37.169Z,1758396817.169 [DAT](INFO): DAT read: Rx Time:19:33:39.2557 2025-09-20T19:33:37.169Z,1758396817.169 [DAT](INFO): Rx dataTimestamp_ set to:1758396817.168939 2025-09-20T19:33:37.170Z,1758396817.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014518 2025-09-20T19:33:37.420Z,1758396817.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264718 2025-09-20T19:33:37.653Z,1758396817.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m. 2025-09-20T19:33:37.660Z,1758396817.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.984283 m, nav range: 66.321541 m, bearing: 257.533080 deg, approach rate: -0.669813 m/s, LOS rate: 0.036614 deg/s, cmd heading: 249.967985 deg, new cmd heading: 250.004811 deg. 2025-09-20T19:33:37.661Z,1758396817.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363407 target range: 71.984283 and range: 72.30 m. 2025-09-20T19:33:37.678Z,1758396817.678 [DAT](INFO): DAT read: 19:33:39.2556 LVL= 26352, 30385, 28914, 32755, AGC= 63, IDX= 405, 0.35, 2.658, 0.828, 2.695, 2.302, PHS= 0.458,-1.430, 0.349, RAW= 147.0, 6.8, CAL= 146.5, 7.4, ROT= 3.5, -7.4 2025-09-20T19:33:37.679Z,1758396817.679 [DAT](INFO): got valid direction response: 19:33:39.2556 LVL= 26352, 30385, 28914, 32755, AGC= 63, IDX= 405, 0.35, 2.658, 0.828, 2.695, 2.302, PHS= 0.458,-1.430, 0.349, RAW= 147.0, 6.8, CAL= 146.5, 7.4, ROT= 3.5, -7.4 2025-09-20T19:33:37.680Z,1758396817.680 [DAT](INFO): DAT read: Bearing 55.3, 12.1 (Local) 2025-09-20T19:33:37.680Z,1758396817.680 [DAT](INFO): Local bearing/azimuth received: Bearing 55.3, 12.1 (Local) 2025-09-20T19:33:37.682Z,1758396817.682 [DAT](INFO): DAT read: Range 11 to 50 : 69.7 m (Round-trip 93.0 ms) speed 0.6 m/s 2025-09-20T19:33:37.682Z,1758396817.682 [DAT](INFO): DAT read: user:65> 2025-09-20T19:33:37.683Z,1758396817.683 [DAT](INFO): DAT read: Tx time:19:33:40.3584 2025-09-20T19:33:37.683Z,1758396817.683 [DAT](INFO): Ping request sent. 2025-09-20T19:33:37.683Z,1758396817.683 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:37.684Z,1758396817.684 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:37.685Z,1758396817.685 [DAT](INFO): direction in FSK: [0.989821,0.060540,0.128796] 2025-09-20T19:33:37.685Z,1758396817.685 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:37.685Z,1758396817.685 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:37.692Z,1758396817.692 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:37.693Z,1758396817.693 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:38.036Z,1758396818.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.699997 m, deltaT: 3.528151 s, deltaX: -2.600006 m, approachRate: -0.736932 m/s, rangeRepo size: 4 2025-09-20T19:33:38.038Z,1758396818.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.395950 m, bearing: 256.818465 deg, lat: 36.779321 deg, lon: -121.859573 deg, deltaT: 3.528151 s, deltaX: -2.588333 m, approachRate: -0.733623 m/s, posRepo size: 4 2025-09-20T19:33:38.039Z,1758396818.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m. 2025-09-20T19:33:38.042Z,1758396818.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.395950 m, nav range: 66.286858 m, bearing: 256.678155 deg, approach rate: 0.000000 m/s, LOS rate: 0.036614 deg/s, cmd heading: 250.004813 deg, new cmd heading: 250.032802 deg. 2025-09-20T19:33:38.043Z,1758396818.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363895 target range: 69.395950 and range: 69.70 m. 2025-09-20T19:33:38.414Z,1758396818.414 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:33:38.427Z,1758396818.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:38.430Z,1758396818.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m. 2025-09-20T19:33:38.433Z,1758396818.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.395950 m, nav range: 66.002953 m, bearing: 256.690023 deg, approach rate: -0.719089 m/s, LOS rate: 0.030188 deg/s, cmd heading: 250.032790 deg, new cmd heading: 250.056626 deg. 2025-09-20T19:33:38.434Z,1758396818.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364311 target range: 69.395950 and range: 69.70 m. 2025-09-20T19:33:38.681Z,1758396818.681 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:38.681Z,1758396818.681 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:38.681Z,1758396818.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:38.866Z,1758396818.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m. 2025-09-20T19:33:38.868Z,1758396818.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.395950 m, nav range: 65.696785 m, bearing: 256.699140 deg, approach rate: -0.702719 m/s, LOS rate: 0.021024 deg/s, cmd heading: 250.056613 deg, new cmd heading: 250.074933 deg. 2025-09-20T19:33:38.869Z,1758396818.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364631 target range: 69.395950 and range: 69.70 m. 2025-09-20T19:33:38.936Z,1758396818.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252413 2025-09-20T19:33:39.184Z,1758396819.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500480 2025-09-20T19:33:39.272Z,1758396819.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m. 2025-09-20T19:33:39.275Z,1758396819.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.395950 m, nav range: 65.411873 m, bearing: 256.707668 deg, approach rate: -0.700984 m/s, LOS rate: 0.021074 deg/s, cmd heading: 250.074946 deg, new cmd heading: 250.092077 deg. 2025-09-20T19:33:39.284Z,1758396819.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364930 target range: 69.395950 and range: 69.70 m. 2025-09-20T19:33:39.415Z,1758396819.415 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:33:39.436Z,1758396819.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752538 2025-09-20T19:33:39.682Z,1758396819.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m. 2025-09-20T19:33:39.688Z,1758396819.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004647 2025-09-20T19:33:39.690Z,1758396819.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.395950 m, nav range: 65.130562 m, bearing: 256.714989 deg, approach rate: -0.686233 m/s, LOS rate: 0.017935 deg/s, cmd heading: 250.092076 deg, new cmd heading: 250.106780 deg. 2025-09-20T19:33:39.696Z,1758396819.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365187 target range: 69.395950 and range: 69.70 m. 2025-09-20T19:33:39.940Z,1758396819.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256515 2025-09-20T19:33:40.041Z,1758396820.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m. 2025-09-20T19:33:40.044Z,1758396820.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.395950 m, nav range: 64.856537 m, bearing: 256.722218 deg, approach rate: -0.762978 m/s, LOS rate: 0.020214 deg/s, cmd heading: 250.106774 deg, new cmd heading: 250.121294 deg. 2025-09-20T19:33:40.045Z,1758396820.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365440 target range: 69.395950 and range: 69.70 m. 2025-09-20T19:33:40.192Z,1758396820.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508710 2025-09-20T19:33:40.444Z,1758396820.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760612 2025-09-20T19:33:40.458Z,1758396820.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:40.464Z,1758396820.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m. 2025-09-20T19:33:40.471Z,1758396820.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.395950 m, nav range: 64.562538 m, bearing: 256.730058 deg, approach rate: -0.694528 m/s, LOS rate: 0.018606 deg/s, cmd heading: 250.121282 deg, new cmd heading: 250.137034 deg. 2025-09-20T19:33:40.472Z,1758396820.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365715 target range: 69.395950 and range: 69.70 m. 2025-09-20T19:33:40.697Z,1758396820.697 [DAT](INFO): DAT read: Rx Time:19:33:42.8523 2025-09-20T19:33:40.697Z,1758396820.697 [DAT](INFO): Rx dataTimestamp_ set to:1758396820.696890 2025-09-20T19:33:40.698Z,1758396820.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014442 2025-09-20T19:33:40.897Z,1758396820.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m. 2025-09-20T19:33:40.900Z,1758396820.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.395950 m, nav range: 64.243240 m, bearing: 256.738853 deg, approach rate: -0.737884 m/s, LOS rate: 0.020425 deg/s, cmd heading: 250.137046 deg, new cmd heading: 250.154722 deg. 2025-09-20T19:33:40.901Z,1758396820.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366024 target range: 69.395950 and range: 69.70 m. 2025-09-20T19:33:40.948Z,1758396820.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264370 2025-09-20T19:33:41.207Z,1758396821.207 [DAT](INFO): DAT read: 19:33:42.8523 LVL= 29024, 32753, 29938, 32755, AGC= 56, IDX= 403, 0.14, 1.079,-0.754, 1.060, 0.743, PHS= 0.439,-1.452, 0.273, RAW= 145.5, 8.2, CAL= 145.0, 8.9, ROT= 5.0, -8.9 2025-09-20T19:33:41.208Z,1758396821.208 [DAT](INFO): got valid direction response: 19:33:42.8523 LVL= 29024, 32753, 29938, 32755, AGC= 56, IDX= 403, 0.14, 1.079,-0.754, 1.060, 0.743, PHS= 0.439,-1.452, 0.273, RAW= 145.5, 8.2, CAL= 145.0, 8.9, ROT= 5.0, -8.9 2025-09-20T19:33:41.209Z,1758396821.209 [DAT](INFO): DAT read: Bearing 56.8, 10.9 (Local) 2025-09-20T19:33:41.209Z,1758396821.209 [DAT](INFO): Local bearing/azimuth received: Bearing 56.8, 10.9 (Local) 2025-09-20T19:33:41.211Z,1758396821.211 [DAT](INFO): DAT read: Range 11 to 50 : 67.2 m (Round-trip 89.7 ms) speed 0.6 m/s 2025-09-20T19:33:41.212Z,1758396821.212 [DAT](INFO): DAT read: user:66> 2025-09-20T19:33:41.212Z,1758396821.212 [DAT](INFO): DAT read: Tx time:19:33:43.9584 2025-09-20T19:33:41.212Z,1758396821.212 [DAT](INFO): Ping request sent. 2025-09-20T19:33:41.213Z,1758396821.213 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:41.213Z,1758396821.213 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:41.214Z,1758396821.214 [DAT](INFO): direction in FSK: [0.984200,0.086106,0.154710] 2025-09-20T19:33:41.214Z,1758396821.214 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:41.214Z,1758396821.214 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:41.229Z,1758396821.229 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:41.229Z,1758396821.229 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:41.376Z,1758396821.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 3.528024 s, deltaX: -2.500000 m, approachRate: -0.708612 m/s, rangeRepo size: 4 2025-09-20T19:33:41.378Z,1758396821.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.903664 m, bearing: 258.291488 deg, lat: 36.779321 deg, lon: -121.859573 deg, deltaT: 3.528024 s, deltaX: -2.492287 m, approachRate: -0.706426 m/s, posRepo size: 4 2025-09-20T19:33:41.379Z,1758396821.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:41.385Z,1758396821.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 63.927563 m, bearing: 256.747862 deg, approach rate: 0.000000 m/s, LOS rate: 0.020425 deg/s, cmd heading: 250.154722 deg, new cmd heading: 250.174080 deg. 2025-09-20T19:33:41.386Z,1758396821.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366362 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:41.778Z,1758396821.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:41.782Z,1758396821.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 63.624527 m, bearing: 256.754539 deg, approach rate: -0.744503 m/s, LOS rate: 0.016481 deg/s, cmd heading: 250.174093 deg, new cmd heading: 250.187509 deg. 2025-09-20T19:33:41.784Z,1758396821.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366596 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:42.144Z,1758396822.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:42.147Z,1758396822.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 63.372040 m, bearing: 256.760238 deg, approach rate: -0.689801 m/s, LOS rate: 0.015634 deg/s, cmd heading: 250.187507 deg, new cmd heading: 250.198952 deg. 2025-09-20T19:33:42.148Z,1758396822.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366796 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:42.529Z,1758396822.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:42.531Z,1758396822.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:42.536Z,1758396822.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 63.099152 m, bearing: 256.766294 deg, approach rate: -0.705017 m/s, LOS rate: 0.015713 deg/s, cmd heading: 250.198954 deg, new cmd heading: 250.211119 deg. 2025-09-20T19:33:42.551Z,1758396822.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367008 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:42.712Z,1758396822.712 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:42.712Z,1758396822.712 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:42.713Z,1758396822.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:42.964Z,1758396822.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751409 2025-09-20T19:33:42.970Z,1758396822.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:42.973Z,1758396822.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 62.791191 m, bearing: 256.775196 deg, approach rate: -0.701722 m/s, LOS rate: 0.020384 deg/s, cmd heading: 250.211112 deg, new cmd heading: 250.229004 deg. 2025-09-20T19:33:42.974Z,1758396822.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367320 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:43.217Z,1758396823.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004479 2025-09-20T19:33:43.348Z,1758396823.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:43.351Z,1758396823.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 62.524849 m, bearing: 256.782802 deg, approach rate: -0.703970 m/s, LOS rate: 0.020188 deg/s, cmd heading: 250.229007 deg, new cmd heading: 250.244284 deg. 2025-09-20T19:33:43.352Z,1758396823.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367587 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:43.468Z,1758396823.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255390 2025-09-20T19:33:43.720Z,1758396823.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507525 2025-09-20T19:33:43.799Z,1758396823.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:43.827Z,1758396823.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 62.208241 m, bearing: 256.791303 deg, approach rate: -0.703127 m/s, LOS rate: 0.018976 deg/s, cmd heading: 250.244280 deg, new cmd heading: 250.261369 deg. 2025-09-20T19:33:43.828Z,1758396823.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367885 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:43.972Z,1758396823.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759453 2025-09-20T19:33:44.172Z,1758396824.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:44.175Z,1758396824.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 61.940525 m, bearing: 256.798560 deg, approach rate: -0.716806 m/s, LOS rate: 0.019513 deg/s, cmd heading: 250.261382 deg, new cmd heading: 250.275958 deg. 2025-09-20T19:33:44.176Z,1758396824.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368139 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:44.225Z,1758396824.225 [DAT](INFO): DAT read: Rx Time:19:33:46.4490 2025-09-20T19:33:44.226Z,1758396824.226 [DAT](INFO): Rx dataTimestamp_ set to:1758396824.225473 2025-09-20T19:33:44.228Z,1758396824.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014963 2025-09-20T19:33:44.476Z,1758396824.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263165 2025-09-20T19:33:44.561Z,1758396824.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:44.563Z,1758396824.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-09-20T19:33:44.566Z,1758396824.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.903664 m, nav range: 61.664314 m, bearing: 256.805473 deg, approach rate: -0.706618 m/s, LOS rate: 0.017764 deg/s, cmd heading: 250.275944 deg, new cmd heading: 250.289832 deg. 2025-09-20T19:33:44.567Z,1758396824.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368382 target range: 66.903664 and range: 67.20 m. 2025-09-20T19:33:44.746Z,1758396824.746 [DAT](INFO): DAT read: 19:33:46.4490 LVL= 27008, 32753, 29602, 32547, AGC= 64, IDX= 401, 0.04, 2.144, 0.208, 2.054, 1.783, PHS= 0.462,-1.530, 0.227, RAW= 143.8, 9.0, CAL= 143.4, 9.8, ROT= 6.6, -9.8 2025-09-20T19:33:44.748Z,1758396824.748 [DAT](INFO): got valid direction response: 19:33:46.4490 LVL= 27008, 32753, 29602, 32547, AGC= 64, IDX= 401, 0.04, 2.144, 0.208, 2.054, 1.783, PHS= 0.462,-1.530, 0.227, RAW= 143.8, 9.0, CAL= 143.4, 9.8, ROT= 6.6, -9.8 2025-09-20T19:33:44.748Z,1758396824.748 [DAT](INFO): DAT read: Bearing 57.8, 10.1 (Local) 2025-09-20T19:33:44.749Z,1758396824.749 [DAT](INFO): Local bearing/azimuth received: Bearing 57.8, 10.1 (Local) 2025-09-20T19:33:44.750Z,1758396824.750 [DAT](INFO): DAT read: Range 11 to 50 : 64.8 m (Round-trip 86.4 ms) speed 0.6 m/s 2025-09-20T19:33:44.755Z,1758396824.755 [DAT](INFO): DAT read: user:67> 2025-09-20T19:33:44.756Z,1758396824.756 [DAT](INFO): DAT read: Tx time:19:33:47.5584 2025-09-20T19:33:44.756Z,1758396824.756 [DAT](INFO): Ping request sent. 2025-09-20T19:33:44.757Z,1758396824.757 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:44.757Z,1758396824.757 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:44.758Z,1758396824.758 [DAT](INFO): direction in FSK: [0.978877,0.113260,0.170209] 2025-09-20T19:33:44.758Z,1758396824.758 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:44.758Z,1758396824.758 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:44.766Z,1758396824.766 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:44.766Z,1758396824.766 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:45.030Z,1758396825.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.800003 m, deltaT: 3.530879 s, deltaX: -2.399994 m, approachRate: -0.679716 m/s, rangeRepo size: 4 2025-09-20T19:33:45.037Z,1758396825.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.517639 m, bearing: 260.219292 deg, lat: 36.779321 deg, lon: -121.859581 deg, deltaT: 3.530879 s, deltaX: -2.386024 m, approachRate: -0.675759 m/s, posRepo size: 4 2025-09-20T19:33:45.037Z,1758396825.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:45.044Z,1758396825.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 62.045567 m, bearing: 256.961792 deg, approach rate: 0.000000 m/s, LOS rate: 0.017764 deg/s, cmd heading: 250.289823 deg, new cmd heading: 250.306404 deg. 2025-09-20T19:33:45.045Z,1758396825.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368671 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:45.368Z,1758396825.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:45.371Z,1758396825.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 61.798943 m, bearing: 256.967010 deg, approach rate: -0.728403 m/s, LOS rate: 0.015472 deg/s, cmd heading: 250.306407 deg, new cmd heading: 250.316884 deg. 2025-09-20T19:33:45.372Z,1758396825.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368854 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:45.821Z,1758396825.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:45.836Z,1758396825.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 61.498672 m, bearing: 256.973955 deg, approach rate: -0.663286 m/s, LOS rate: 0.015416 deg/s, cmd heading: 250.316871 deg, new cmd heading: 250.330828 deg. 2025-09-20T19:33:45.837Z,1758396825.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369097 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:46.178Z,1758396826.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:46.180Z,1758396826.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 61.238045 m, bearing: 256.979894 deg, approach rate: -0.730692 m/s, LOS rate: 0.016722 deg/s, cmd heading: 250.330832 deg, new cmd heading: 250.342761 deg. 2025-09-20T19:33:46.181Z,1758396826.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369306 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:46.575Z,1758396826.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:46.577Z,1758396826.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:46.580Z,1758396826.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 60.961472 m, bearing: 256.986140 deg, approach rate: -0.692359 m/s, LOS rate: 0.015708 deg/s, cmd heading: 250.342771 deg, new cmd heading: 250.355320 deg. 2025-09-20T19:33:46.581Z,1758396826.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369524 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:46.744Z,1758396826.744 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:46.744Z,1758396826.744 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:46.744Z,1758396826.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:46.996Z,1758396826.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239439 2025-09-20T19:33:47.043Z,1758396827.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:47.046Z,1758396827.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 60.645031 m, bearing: 256.996684 deg, approach rate: -0.685297 m/s, LOS rate: 0.022954 deg/s, cmd heading: 250.355311 deg, new cmd heading: 250.376509 deg. 2025-09-20T19:33:47.047Z,1758396827.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369895 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:47.248Z,1758396827.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491586 2025-09-20T19:33:47.402Z,1758396827.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:47.405Z,1758396827.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 60.383335 m, bearing: 257.005341 deg, approach rate: -0.720465 m/s, LOS rate: 0.023935 deg/s, cmd heading: 250.376512 deg, new cmd heading: 250.393900 deg. 2025-09-20T19:33:47.406Z,1758396827.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370198 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:47.500Z,1758396827.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743428 2025-09-20T19:33:47.752Z,1758396827.752 [DAT](INFO): DAT read: Rx Time:19:33:50.0455 2025-09-20T19:33:47.752Z,1758396827.752 [DAT](INFO): Rx dataTimestamp_ set to:1758396827.752221 2025-09-20T19:33:47.753Z,1758396827.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996476 2025-09-20T19:33:47.885Z,1758396827.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:47.888Z,1758396827.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 60.025909 m, bearing: 257.015687 deg, approach rate: -0.739637 m/s, LOS rate: 0.021537 deg/s, cmd heading: 250.393888 deg, new cmd heading: 250.414703 deg. 2025-09-20T19:33:47.889Z,1758396827.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370561 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:48.004Z,1758396828.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247556 2025-09-20T19:33:48.197Z,1758396828.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.52 m. 2025-09-20T19:33:48.201Z,1758396828.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.517639 m, nav range: 59.803806 m, bearing: 257.022180 deg, approach rate: -0.712387 m/s, LOS rate: 0.020906 deg/s, cmd heading: 250.414706 deg, new cmd heading: 250.427742 deg. 2025-09-20T19:33:48.204Z,1758396828.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370789 target range: 64.517639 and range: 64.80 m. 2025-09-20T19:33:48.257Z,1758396828.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500289 2025-09-20T19:33:48.514Z,1758396828.514 [DAT](INFO): DAT read: 19:33:50.0455 LVL= 31216, 32577, 30130, 32755, AGC= 63, IDX= 413, 0.36,-0.697,-2.577,-0.827,-1.037, PHS= 0.442,-1.495, 0.167, RAW= 142.4, 9.8, CAL= 142.0, 10.7, ROT= 8.0, -10.7 2025-09-20T19:33:48.515Z,1758396828.515 [DAT](INFO): got valid direction response: 19:33:50.0455 LVL= 31216, 32577, 30130, 32755, AGC= 63, IDX= 413, 0.36,-0.697,-2.577,-0.827,-1.037, PHS= 0.442,-1.495, 0.167, RAW= 142.4, 9.8, CAL= 142.0, 10.7, ROT= 8.0, -10.7 2025-09-20T19:33:48.516Z,1758396828.516 [DAT](INFO): DAT read: Bearing 58.7, 9.3 (Local) 2025-09-20T19:33:48.516Z,1758396828.516 [DAT](INFO): Local bearing/azimuth received: Bearing 58.7, 9.3 (Local) 2025-09-20T19:33:48.518Z,1758396828.518 [DAT](INFO): DAT read: Range 11 to 50 : 62.1 m (Round-trip 82.9 ms) speed 0.6 m/s 2025-09-20T19:33:48.518Z,1758396828.518 [DAT](INFO): DAT read: user:68> 2025-09-20T19:33:48.519Z,1758396828.519 [DAT](INFO): DAT read: Tx time:19:33:51.1584 2025-09-20T19:33:48.520Z,1758396828.520 [DAT](INFO): Ping request sent. 2025-09-20T19:33:48.520Z,1758396828.520 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:48.520Z,1758396828.520 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:48.521Z,1758396828.521 [DAT](INFO): direction in FSK: [0.973050,0.136753,0.185667] 2025-09-20T19:33:48.521Z,1758396828.521 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:48.521Z,1758396828.521 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:48.525Z,1758396828.525 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:48.525Z,1758396828.525 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:48.639Z,1758396828.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 3.777307 s, deltaX: -2.700005 m, approachRate: -0.714796 m/s, rangeRepo size: 4 2025-09-20T19:33:48.641Z,1758396828.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.829384 m, bearing: 261.808563 deg, lat: 36.779335 deg, lon: -121.859587 deg, deltaT: 3.777307 s, deltaX: -2.688255 m, approachRate: -0.711686 m/s, posRepo size: 4 2025-09-20T19:33:48.642Z,1758396828.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:48.660Z,1758396828.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 59.712749 m, bearing: 258.549196 deg, approach rate: 0.000000 m/s, LOS rate: 0.020906 deg/s, cmd heading: 250.427738 deg, new cmd heading: 250.446081 deg. 2025-09-20T19:33:48.661Z,1758396828.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371109 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:49.028Z,1758396829.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:49.030Z,1758396829.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:49.049Z,1758396829.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 59.421040 m, bearing: 258.566334 deg, approach rate: -0.739465 m/s, LOS rate: 0.043657 deg/s, cmd heading: 250.446071 deg, new cmd heading: 250.480515 deg. 2025-09-20T19:33:49.050Z,1758396829.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371710 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:49.265Z,1758396829.265 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:49.265Z,1758396829.265 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:49.266Z,1758396829.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:49.417Z,1758396829.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:49.420Z,1758396829.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 59.147629 m, bearing: 258.582516 deg, approach rate: -0.706400 m/s, LOS rate: 0.042001 deg/s, cmd heading: 250.480522 deg, new cmd heading: 250.513035 deg. 2025-09-20T19:33:49.421Z,1758396829.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372277 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:49.516Z,1758396829.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996289 2025-09-20T19:33:49.768Z,1758396829.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248152 2025-09-20T19:33:49.858Z,1758396829.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:49.861Z,1758396829.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 58.836163 m, bearing: 258.596371 deg, approach rate: -0.706673 m/s, LOS rate: 0.031603 deg/s, cmd heading: 250.513034 deg, new cmd heading: 250.540891 deg. 2025-09-20T19:33:49.862Z,1758396829.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372764 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:50.020Z,1758396830.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500086 2025-09-20T19:33:50.237Z,1758396830.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:50.240Z,1758396830.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 58.568390 m, bearing: 258.608256 deg, approach rate: -0.707048 m/s, LOS rate: 0.031526 deg/s, cmd heading: 250.540901 deg, new cmd heading: 250.564780 deg. 2025-09-20T19:33:50.241Z,1758396830.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373180 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:50.272Z,1758396830.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752413 2025-09-20T19:33:50.524Z,1758396830.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003982 2025-09-20T19:33:50.623Z,1758396830.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:50.625Z,1758396830.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 58.295685 m, bearing: 258.620360 deg, approach rate: -0.706935 m/s, LOS rate: 0.031525 deg/s, cmd heading: 250.564779 deg, new cmd heading: 250.589101 deg. 2025-09-20T19:33:50.626Z,1758396830.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373605 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:50.777Z,1758396830.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256892 2025-09-20T19:33:51.028Z,1758396831.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508236 2025-09-20T19:33:51.070Z,1758396831.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:51.077Z,1758396831.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:51.084Z,1758396831.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 58.001205 m, bearing: 258.635660 deg, approach rate: -0.648145 m/s, LOS rate: 0.033846 deg/s, cmd heading: 250.589095 deg, new cmd heading: 250.619850 deg. 2025-09-20T19:33:51.085Z,1758396831.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374142 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:51.283Z,1758396831.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763015 2025-09-20T19:33:51.434Z,1758396831.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:51.436Z,1758396831.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 57.734219 m, bearing: 258.649505 deg, approach rate: -0.748575 m/s, LOS rate: 0.038998 deg/s, cmd heading: 250.619858 deg, new cmd heading: 250.647676 deg. 2025-09-20T19:33:51.437Z,1758396831.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374627 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:51.532Z,1758396831.532 [DAT](INFO): DAT read: Rx Time:19:33:53.6421 2025-09-20T19:33:51.533Z,1758396831.533 [DAT](INFO): Rx dataTimestamp_ set to:1758396831.532281 2025-09-20T19:33:51.533Z,1758396831.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013286 2025-09-20T19:33:51.788Z,1758396831.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267006 2025-09-20T19:33:51.934Z,1758396831.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m. 2025-09-20T19:33:51.942Z,1758396831.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.829384 m, nav range: 57.420048 m, bearing: 258.667592 deg, approach rate: -0.627365 m/s, LOS rate: 0.036315 deg/s, cmd heading: 250.647671 deg, new cmd heading: 250.684042 deg. 2025-09-20T19:33:51.947Z,1758396831.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375262 target range: 61.829384 and range: 62.10 m. 2025-09-20T19:33:52.042Z,1758396832.042 [DAT](INFO): DAT read: 19:33:53.6421 LVL= 26096, 30961, 25522, 32755, AGC= 65, IDX= 411,-0.02, 1.336,-0.541, 1.173, 1.022, PHS= 0.416,-1.518, 0.106, RAW= 141.4, 11.1, CAL= 140.9, 12.0, ROT= 9.1, -12.0 2025-09-20T19:33:52.044Z,1758396832.044 [DAT](INFO): got valid direction response: 19:33:53.6421 LVL= 26096, 30961, 25522, 32755, AGC= 65, IDX= 411,-0.02, 1.336,-0.541, 1.173, 1.022, PHS= 0.416,-1.518, 0.106, RAW= 141.4, 11.1, CAL= 140.9, 12.0, ROT= 9.1, -12.0 2025-09-20T19:33:52.044Z,1758396832.044 [DAT](INFO): DAT read: Bearing 60.2, 8.5 (Local) 2025-09-20T19:33:52.045Z,1758396832.045 [DAT](INFO): Local bearing/azimuth received: Bearing 60.2, 8.5 (Local) 2025-09-20T19:33:52.046Z,1758396832.046 [DAT](INFO): DAT read: Range 11 to 50 : 59.6 m (Round-trip 79.5 ms) speed 0.5 m/s 2025-09-20T19:33:52.047Z,1758396832.047 [DAT](INFO): DAT read: user:69> 2025-09-20T19:33:52.048Z,1758396832.048 [DAT](INFO): DAT read: Tx time:19:33:54.7584 2025-09-20T19:33:52.048Z,1758396832.048 [DAT](INFO): Ping request sent. 2025-09-20T19:33:52.048Z,1758396832.048 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:52.048Z,1758396832.048 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:52.049Z,1758396832.049 [DAT](INFO): direction in FSK: [0.965836,0.154702,0.207912] 2025-09-20T19:33:52.050Z,1758396832.050 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:52.050Z,1758396832.050 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:52.065Z,1758396832.065 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:52.066Z,1758396832.066 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:52.261Z,1758396832.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 3.527768 s, deltaX: -2.500000 m, approachRate: -0.708663 m/s, rangeRepo size: 4 2025-09-20T19:33:52.263Z,1758396832.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.341022 m, bearing: 263.118642 deg, lat: 36.779351 deg, lon: -121.859599 deg, deltaT: 3.527768 s, deltaX: -2.488361 m, approachRate: -0.705364 m/s, posRepo size: 4 2025-09-20T19:33:52.264Z,1758396832.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:52.265Z,1758396832.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:52.289Z,1758396832.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 57.912674 m, bearing: 260.636697 deg, approach rate: 0.000000 m/s, LOS rate: 0.036315 deg/s, cmd heading: 250.684034 deg, new cmd heading: 250.707718 deg. 2025-09-20T19:33:52.290Z,1758396832.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375675 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:52.332Z,1758396832.332 [DockingStepper](INFO): Changing to mode: 2 2025-09-20T19:33:52.668Z,1758396832.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:52.668Z,1758396832.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:52.671Z,1758396832.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 57.635395 m, bearing: 260.661343 deg, approach rate: -0.680611 m/s, LOS rate: 0.060787 deg/s, cmd heading: 250.707722 deg, new cmd heading: 250.757251 deg. 2025-09-20T19:33:52.672Z,1758396832.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376540 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:53.096Z,1758396833.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:53.098Z,1758396833.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:53.098Z,1758396833.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:53.101Z,1758396833.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 57.338978 m, bearing: 260.685482 deg, approach rate: -0.689386 m/s, LOS rate: 0.056431 deg/s, cmd heading: 250.757254 deg, new cmd heading: 250.805782 deg. 2025-09-20T19:33:53.102Z,1758396833.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377387 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:53.296Z,1758396833.296 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:53.296Z,1758396833.296 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:53.296Z,1758396833.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:53.489Z,1758396833.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:53.490Z,1758396833.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:53.493Z,1758396833.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 57.081360 m, bearing: 260.706642 deg, approach rate: -0.658095 m/s, LOS rate: 0.054297 deg/s, cmd heading: 250.805776 deg, new cmd heading: 250.848286 deg. 2025-09-20T19:33:53.494Z,1758396833.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378129 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:53.549Z,1758396833.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500735 2025-09-20T19:33:53.803Z,1758396833.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754367 2025-09-20T19:33:53.912Z,1758396833.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:53.912Z,1758396833.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:53.915Z,1758396833.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 56.782791 m, bearing: 260.728162 deg, approach rate: -0.707985 m/s, LOS rate: 0.051298 deg/s, cmd heading: 250.848287 deg, new cmd heading: 250.891554 deg. 2025-09-20T19:33:53.916Z,1758396833.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378884 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:54.052Z,1758396834.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003753 2025-09-20T19:33:54.281Z,1758396834.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:54.281Z,1758396834.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:54.284Z,1758396834.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 56.531029 m, bearing: 260.746019 deg, approach rate: -0.680466 m/s, LOS rate: 0.048479 deg/s, cmd heading: 250.891563 deg, new cmd heading: 250.927436 deg. 2025-09-20T19:33:54.285Z,1758396834.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379510 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:54.304Z,1758396834.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255808 2025-09-20T19:33:54.556Z,1758396834.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508205 2025-09-20T19:33:54.683Z,1758396834.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:54.684Z,1758396834.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:54.690Z,1758396834.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 56.257713 m, bearing: 260.765366 deg, approach rate: -0.679590 m/s, LOS rate: 0.048340 deg/s, cmd heading: 250.927435 deg, new cmd heading: 250.966317 deg. 2025-09-20T19:33:54.712Z,1758396834.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380188 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:54.812Z,1758396834.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763717 2025-09-20T19:33:55.060Z,1758396835.060 [DAT](INFO): DAT read: Rx Time:19:33:57.2388 2025-09-20T19:33:55.061Z,1758396835.061 [DAT](INFO): Rx dataTimestamp_ set to:1758396835.060260 2025-09-20T19:33:55.061Z,1758396835.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012859 2025-09-20T19:33:55.136Z,1758396835.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:55.138Z,1758396835.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:55.138Z,1758396835.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:55.145Z,1758396835.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 55.955246 m, bearing: 260.788087 deg, approach rate: -0.665413 m/s, LOS rate: 0.050253 deg/s, cmd heading: 250.966313 deg, new cmd heading: 251.011998 deg. 2025-09-20T19:33:55.146Z,1758396835.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380986 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:55.312Z,1758396835.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263714 2025-09-20T19:33:55.559Z,1758396835.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.34 m. 2025-09-20T19:33:55.560Z,1758396835.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-09-20T19:33:55.562Z,1758396835.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.341022 m, nav range: 55.675571 m, bearing: 260.809171 deg, approach rate: -0.667398 m/s, LOS rate: 0.050568 deg/s, cmd heading: 251.011993 deg, new cmd heading: 251.054374 deg. 2025-09-20T19:33:55.570Z,1758396835.570 [DAT](INFO): DAT read: 19:33:57.2388 LVL= 19664, 30513, 23778, 32755, AGC= 58, IDX= 409, 0.21, 1.561,-0.357, 1.312, 1.245, PHS= 0.418,-1.557, 0.023, RAW= 139.1, 12.3, CAL= 138.5, 13.3, ROT= 11.5, -13.3 2025-09-20T19:33:55.571Z,1758396835.571 [DAT](INFO): got valid direction response: 19:33:57.2388 LVL= 19664, 30513, 23778, 32755, AGC= 58, IDX= 409, 0.21, 1.561,-0.357, 1.312, 1.245, PHS= 0.418,-1.557, 0.023, RAW= 139.1, 12.3, CAL= 138.5, 13.3, ROT= 11.5, -13.3 2025-09-20T19:33:55.572Z,1758396835.572 [DAT](INFO): DAT read: Bearing 61.9, 9.4 (Local) 2025-09-20T19:33:55.572Z,1758396835.572 [DAT](INFO): Local bearing/azimuth received: Bearing 61.9, 9.4 (Local) 2025-09-20T19:33:55.574Z,1758396835.574 [DAT](INFO): DAT read: Range 11 to 50 : 57.1 m (Round-trip 76.2 ms) speed 0.5 m/s 2025-09-20T19:33:55.575Z,1758396835.575 [DAT](INFO): DAT read: user:70> 2025-09-20T19:33:55.576Z,1758396835.576 [DAT](INFO): DAT read: Tx time:19:33:58.3584 2025-09-20T19:33:55.576Z,1758396835.576 [DAT](INFO): Ping request sent. 2025-09-20T19:33:55.577Z,1758396835.577 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:55.577Z,1758396835.577 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:55.578Z,1758396835.578 [DAT](INFO): direction in FSK: [0.953642,0.194021,0.230050] 2025-09-20T19:33:55.578Z,1758396835.578 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:55.578Z,1758396835.578 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:55.581Z,1758396835.581 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:55.582Z,1758396835.582 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:55.584Z,1758396835.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381725 target range: 59.341022 and range: 59.60 m. 2025-09-20T19:33:56.006Z,1758396836.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.099998 m, deltaT: 3.528075 s, deltaX: -2.500000 m, approachRate: -0.708602 m/s, rangeRepo size: 4 2025-09-20T19:33:56.012Z,1758396836.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.852287 m, bearing: 265.833895 deg, lat: 36.779364 deg, lon: -121.859603 deg, deltaT: 3.528075 s, deltaX: -2.488735 m, approachRate: -0.705409 m/s, posRepo size: 4 2025-09-20T19:33:56.013Z,1758396836.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:56.014Z,1758396836.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.10 m. 2025-09-20T19:33:56.021Z,1758396836.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 55.511314 m, bearing: 262.340996 deg, approach rate: 0.000000 m/s, LOS rate: 0.050568 deg/s, cmd heading: 251.054367 deg, new cmd heading: 251.099751 deg. 2025-09-20T19:33:56.022Z,1758396836.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382517 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:56.373Z,1758396836.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:56.374Z,1758396836.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.10 m. 2025-09-20T19:33:56.377Z,1758396836.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 55.243076 m, bearing: 262.366910 deg, approach rate: -0.729308 m/s, LOS rate: 0.070799 deg/s, cmd heading: 251.099747 deg, new cmd heading: 251.151827 deg. 2025-09-20T19:33:56.378Z,1758396836.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383426 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:56.786Z,1758396836.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:56.804Z,1758396836.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.10 m. 2025-09-20T19:33:56.832Z,1758396836.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 54.960770 m, bearing: 262.394162 deg, approach rate: -0.685470 m/s, LOS rate: 0.066510 deg/s, cmd heading: 251.151820 deg, new cmd heading: 251.206604 deg. 2025-09-20T19:33:56.840Z,1758396836.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.384382 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:57.227Z,1758396837.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:57.233Z,1758396837.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:57.233Z,1758396837.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.10 m. 2025-09-20T19:33:57.241Z,1758396837.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 54.650177 m, bearing: 262.422624 deg, approach rate: -0.693677 m/s, LOS rate: 0.063928 deg/s, cmd heading: 251.206599 deg, new cmd heading: 251.263846 deg. 2025-09-20T19:33:57.242Z,1758396837.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385381 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:57.328Z,1758396837.328 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:33:57.328Z,1758396837.328 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:33:57.328Z,1758396837.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:33:57.580Z,1758396837.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003420 2025-09-20T19:33:57.598Z,1758396837.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:57.598Z,1758396837.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.10 m. 2025-09-20T19:33:57.601Z,1758396837.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 54.390835 m, bearing: 262.446399 deg, approach rate: -0.711203 m/s, LOS rate: 0.065510 deg/s, cmd heading: 251.263836 deg, new cmd heading: 251.311613 deg. 2025-09-20T19:33:57.602Z,1758396837.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386215 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:57.835Z,1758396837.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257702 2025-09-20T19:33:58.004Z,1758396838.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:58.004Z,1758396838.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.10 m. 2025-09-20T19:33:58.007Z,1758396838.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 54.101601 m, bearing: 262.464186 deg, approach rate: -0.712019 m/s, LOS rate: 0.044021 deg/s, cmd heading: 251.311620 deg, new cmd heading: 251.347383 deg. 2025-09-20T19:33:58.008Z,1758396838.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386839 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:58.085Z,1758396838.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508062 2025-09-20T19:33:58.336Z,1758396838.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759615 2025-09-20T19:33:58.396Z,1758396838.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:58.397Z,1758396838.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.10 m. 2025-09-20T19:33:58.397Z,1758396838.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.10 m. 2025-09-20T19:33:58.397Z,1758396838.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-09-20T19:33:58.400Z,1758396838.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 53.822357 m, bearing: 262.481084 deg, approach rate: -0.711488 m/s, LOS rate: 0.043278 deg/s, cmd heading: 251.347382 deg, new cmd heading: 251.381354 deg. 2025-09-20T19:33:58.401Z,1758396838.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387432 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:58.436Z,1758396838.436 [HorizontalControl](DEBUG): kpHeading = 0.700000 2025-09-20T19:33:58.437Z,1758396838.437 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-09-20T19:33:58.588Z,1758396838.588 [DAT](INFO): DAT read: Rx Time:19:34:00.8355 2025-09-20T19:33:58.589Z,1758396838.589 [DAT](INFO): Rx dataTimestamp_ set to:1758396838.588295 2025-09-20T19:33:58.589Z,1758396838.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012547 2025-09-20T19:33:58.813Z,1758396838.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:58.820Z,1758396838.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 53.530884 m, bearing: 262.498414 deg, approach rate: -0.698551 m/s, LOS rate: 0.041761 deg/s, cmd heading: 251.381342 deg, new cmd heading: 251.416192 deg. 2025-09-20T19:33:58.842Z,1758396838.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265072 2025-09-20T19:33:58.851Z,1758396838.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388041 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:59.095Z,1758396839.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517818 2025-09-20T19:33:59.236Z,1758396839.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:33:59.238Z,1758396839.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.85 m. 2025-09-20T19:33:59.241Z,1758396839.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.852287 m, nav range: 53.223579 m, bearing: 262.527513 deg, approach rate: -0.724093 m/s, LOS rate: 0.068960 deg/s, cmd heading: 251.416203 deg, new cmd heading: 251.474737 deg. 2025-09-20T19:33:59.242Z,1758396839.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389062 target range: 56.852287 and range: 57.10 m. 2025-09-20T19:33:59.350Z,1758396839.350 [DAT](INFO): DAT read: 19:34:00.8355 LVL= 20928, 25841, 21778, 32227, AGC= 63, IDX= 408,-0.20,-2.633, 1.829,-2.804,-2.876, PHS= 0.345,-1.533, 0.028, RAW= 140.9, 13.3, CAL= 140.2, 14.3, ROT= 9.8, -14.3 2025-09-20T19:33:59.351Z,1758396839.351 [DAT](INFO): got valid direction response: 19:34:00.8355 LVL= 20928, 25841, 21778, 32227, AGC= 63, IDX= 408,-0.20,-2.633, 1.829,-2.804,-2.876, PHS= 0.345,-1.533, 0.028, RAW= 140.9, 13.3, CAL= 140.2, 14.3, ROT= 9.8, -14.3 2025-09-20T19:33:59.352Z,1758396839.352 [DAT](INFO): DAT read: Bearing 63.2, 6.6 (Local) 2025-09-20T19:33:59.352Z,1758396839.352 [DAT](INFO): Local bearing/azimuth received: Bearing 63.2, 6.6 (Local) 2025-09-20T19:33:59.358Z,1758396839.358 [DAT](INFO): DAT read: Range 11 to 50 : 54.6 m (Round-trip 72.9 ms) speed 0.6 m/s 2025-09-20T19:33:59.360Z,1758396839.360 [DAT](INFO): DAT read: user:71> 2025-09-20T19:33:59.360Z,1758396839.360 [DAT](INFO): DAT read: Tx time:19:34:01.9584 2025-09-20T19:33:59.361Z,1758396839.361 [DAT](INFO): Ping request sent. 2025-09-20T19:33:59.361Z,1758396839.361 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:33:59.361Z,1758396839.361 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:33:59.362Z,1758396839.362 [DAT](INFO): direction in FSK: [0.954876,0.164936,0.246999] 2025-09-20T19:33:59.362Z,1758396839.362 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:59.362Z,1758396839.362 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:59.370Z,1758396839.370 [DAT](INFO): publishing transmit ping time 2025-09-20T19:33:59.370Z,1758396839.370 [DAT](INFO): publishing direction and range info 2025-09-20T19:33:59.628Z,1758396839.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 3.780050 s, deltaX: -2.500000 m, approachRate: -0.661367 m/s, rangeRepo size: 4 2025-09-20T19:33:59.630Z,1758396839.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.362789 m, bearing: 264.717675 deg, lat: 36.779373 deg, lon: -121.859606 deg, deltaT: 3.780050 s, deltaX: -2.489498 m, approachRate: -0.658589 m/s, posRepo size: 4 2025-09-20T19:33:59.632Z,1758396839.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:33:59.634Z,1758396839.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 53.093372 m, bearing: 263.689646 deg, approach rate: 0.000000 m/s, LOS rate: 0.068960 deg/s, cmd heading: 251.474724 deg, new cmd heading: 251.528423 deg. 2025-09-20T19:33:59.635Z,1758396839.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389999 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:00.028Z,1758396840.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:34:00.030Z,1758396840.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 52.809464 m, bearing: 263.720846 deg, approach rate: -0.710129 m/s, LOS rate: 0.078459 deg/s, cmd heading: 251.528410 deg, new cmd heading: 251.591145 deg. 2025-09-20T19:34:00.048Z,1758396840.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391094 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:00.411Z,1758396840.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:34:00.414Z,1758396840.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 52.539776 m, bearing: 263.750330 deg, approach rate: -0.702714 m/s, LOS rate: 0.077218 deg/s, cmd heading: 251.591138 deg, new cmd heading: 251.650408 deg. 2025-09-20T19:34:00.415Z,1758396840.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392128 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:00.826Z,1758396840.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:34:00.829Z,1758396840.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 52.248123 m, bearing: 263.782004 deg, approach rate: -0.702475 m/s, LOS rate: 0.076718 deg/s, cmd heading: 251.650397 deg, new cmd heading: 251.714100 deg. 2025-09-20T19:34:00.830Z,1758396840.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393240 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:01.266Z,1758396841.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:01.268Z,1758396841.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:34:01.271Z,1758396841.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 51.934536 m, bearing: 263.817638 deg, approach rate: -0.709391 m/s, LOS rate: 0.081095 deg/s, cmd heading: 251.714109 deg, new cmd heading: 251.785806 deg. 2025-09-20T19:34:01.272Z,1758396841.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394491 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:01.376Z,1758396841.376 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:34:01.376Z,1758396841.376 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:34:01.376Z,1758396841.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:34:01.627Z,1758396841.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:34:01.628Z,1758396841.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267474 2025-09-20T19:34:01.647Z,1758396841.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 51.679878 m, bearing: 263.845615 deg, approach rate: -0.710162 m/s, LOS rate: 0.078405 deg/s, cmd heading: 251.785799 deg, new cmd heading: 251.842029 deg. 2025-09-20T19:34:01.648Z,1758396841.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395473 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:01.883Z,1758396841.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521652 2025-09-20T19:34:02.049Z,1758396842.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:34:02.052Z,1758396842.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 51.386681 m, bearing: 263.879409 deg, approach rate: -0.694944 m/s, LOS rate: 0.080555 deg/s, cmd heading: 251.842025 deg, new cmd heading: 251.909997 deg. 2025-09-20T19:34:02.052Z,1758396842.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396659 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:02.135Z,1758396842.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773912 2025-09-20T19:34:02.388Z,1758396842.388 [DAT](INFO): DAT read: Rx Time:19:34:04.4321 2025-09-20T19:34:02.389Z,1758396842.389 [DAT](INFO): Rx dataTimestamp_ set to:1758396842.388227 2025-09-20T19:34:02.389Z,1758396842.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028405 2025-09-20T19:34:02.447Z,1758396842.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:34:02.450Z,1758396842.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 51.110043 m, bearing: 263.910859 deg, approach rate: -0.694514 m/s, LOS rate: 0.079387 deg/s, cmd heading: 251.909999 deg, new cmd heading: 251.973241 deg. 2025-09-20T19:34:02.451Z,1758396842.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397763 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:02.640Z,1758396842.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279173 2025-09-20T19:34:02.838Z,1758396842.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.36 m. 2025-09-20T19:34:02.841Z,1758396842.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.362789 m, nav range: 50.838840 m, bearing: 263.941269 deg, approach rate: -0.694029 m/s, LOS rate: 0.078236 deg/s, cmd heading: 251.973246 deg, new cmd heading: 252.034390 deg. 2025-09-20T19:34:02.841Z,1758396842.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398830 target range: 54.362789 and range: 54.60 m. 2025-09-20T19:34:02.925Z,1758396842.925 [DAT](INFO): DAT read: 19:34:04.4321 LVL= 23200, 28401, 23618, 32755, AGC= 58, IDX= 404, 0.30, 3.004, 1.231, 2.969, 2.798, PHS= 0.308,-1.522, 0.128, RAW= 144.9, 12.4, CAL= 144.5, 13.5, ROT= 5.5, -13.5 2025-09-20T19:34:02.929Z,1758396842.929 [DAT](INFO): got valid direction response: 19:34:04.4321 LVL= 23200, 28401, 23618, 32755, AGC= 58, IDX= 404, 0.30, 3.004, 1.231, 2.969, 2.798, PHS= 0.308,-1.522, 0.128, RAW= 144.9, 12.4, CAL= 144.5, 13.5, ROT= 5.5, -13.5 2025-09-20T19:34:02.933Z,1758396842.933 [DAT](INFO): DAT read: Bearing 63.2, 2.0 (Local) 2025-09-20T19:34:02.934Z,1758396842.934 [DAT](INFO): Local bearing/azimuth received: Bearing 63.2, 2.0 (Local) 2025-09-20T19:34:02.948Z,1758396842.948 [DAT](INFO): DAT read: Range 11 to 50 : 52.1 m (Round-trip 69.5 ms) speed 0.5 m/s 2025-09-20T19:34:02.949Z,1758396842.949 [DAT](INFO): DAT read: user:72> 2025-09-20T19:34:02.950Z,1758396842.950 [DAT](INFO): DAT read: Tx time:19:34:05.5584 2025-09-20T19:34:02.950Z,1758396842.950 [DAT](INFO): Ping request sent. 2025-09-20T19:34:02.950Z,1758396842.950 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:34:02.950Z,1758396842.950 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:34:02.964Z,1758396842.964 [DAT](INFO): direction in FSK: [0.967893,0.093198,0.233445] 2025-09-20T19:34:02.964Z,1758396842.964 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:02.965Z,1758396842.965 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:02.969Z,1758396842.969 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:02.969Z,1758396842.969 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:03.272Z,1758396843.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.099998 m, deltaT: 3.549504 s, deltaX: -2.500000 m, approachRate: -0.704324 m/s, rangeRepo size: 4 2025-09-20T19:34:03.274Z,1758396843.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.874027 m, bearing: 261.459117 deg, lat: 36.779373 deg, lon: -121.859609 deg, deltaT: 3.549504 s, deltaX: -2.488762 m, approachRate: -0.701158 m/s, posRepo size: 4 2025-09-20T19:34:03.274Z,1758396843.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.87 m. 2025-09-20T19:34:03.277Z,1758396843.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.874027 m, nav range: 50.797855 m, bearing: 264.004390 deg, approach rate: 0.000000 m/s, LOS rate: 0.078236 deg/s, cmd heading: 252.034390 deg, new cmd heading: 252.102140 deg. 2025-09-20T19:34:03.278Z,1758396843.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400012 target range: 51.874027 and range: 52.10 m. 2025-09-20T19:34:03.646Z,1758396843.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:03.648Z,1758396843.648 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:34:03.648Z,1758396843.648 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:34:03.648Z,1758396843.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:34:03.652Z,1758396843.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.87 m. 2025-09-20T19:34:03.655Z,1758396843.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.874027 m, nav range: 50.534706 m, bearing: 264.033218 deg, approach rate: -0.690305 m/s, LOS rate: 0.076017 deg/s, cmd heading: 252.102146 deg, new cmd heading: 252.160102 deg. 2025-09-20T19:34:03.656Z,1758396843.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401024 target range: 51.874027 and range: 52.10 m. 2025-09-20T19:34:03.902Z,1758396843.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.951582 2025-09-20T19:34:04.077Z,1758396844.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.87 m. 2025-09-20T19:34:04.080Z,1758396844.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.874027 m, nav range: 50.252251 m, bearing: 264.065453 deg, approach rate: -0.663536 m/s, LOS rate: 0.076150 deg/s, cmd heading: 252.160093 deg, new cmd heading: 252.224925 deg. 2025-09-20T19:34:04.081Z,1758396844.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402155 target range: 51.874027 and range: 52.10 m. 2025-09-20T19:34:04.153Z,1758396844.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202818 2025-09-20T19:34:04.404Z,1758396844.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454021 2025-09-20T19:34:04.471Z,1758396844.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.87 m. 2025-09-20T19:34:04.473Z,1758396844.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.874027 m, nav range: 49.993748 m, bearing: 264.094580 deg, approach rate: -0.657645 m/s, LOS rate: 0.074486 deg/s, cmd heading: 252.224925 deg, new cmd heading: 252.283482 deg. 2025-09-20T19:34:04.474Z,1758396844.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403177 target range: 51.874027 and range: 52.10 m. 2025-09-20T19:34:04.656Z,1758396844.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706093 2025-09-20T19:34:04.876Z,1758396844.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.87 m. 2025-09-20T19:34:04.887Z,1758396844.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.874027 m, nav range: 49.737434 m, bearing: 264.123128 deg, approach rate: -0.631548 m/s, LOS rate: 0.070703 deg/s, cmd heading: 252.283474 deg, new cmd heading: 252.340863 deg. 2025-09-20T19:34:04.888Z,1758396844.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404179 target range: 51.874027 and range: 52.10 m. 2025-09-20T19:34:04.937Z,1758396844.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960962 2025-09-20T19:34:05.161Z,1758396845.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211148 2025-09-20T19:34:05.296Z,1758396845.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.87 m. 2025-09-20T19:34:05.299Z,1758396845.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.874027 m, nav range: 49.444466 m, bearing: 264.152219 deg, approach rate: -0.697689 m/s, LOS rate: 0.069689 deg/s, cmd heading: 252.340874 deg, new cmd heading: 252.399401 deg. 2025-09-20T19:34:05.300Z,1758396845.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405200 target range: 51.874027 and range: 52.10 m. 2025-09-20T19:34:05.413Z,1758396845.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462496 2025-09-20T19:34:05.665Z,1758396845.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715248 2025-09-20T19:34:05.681Z,1758396845.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:05.700Z,1758396845.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.87 m. 2025-09-20T19:34:05.707Z,1758396845.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.874027 m, nav range: 49.189014 m, bearing: 264.177386 deg, approach rate: -0.632615 m/s, LOS rate: 0.062649 deg/s, cmd heading: 252.399395 deg, new cmd heading: 252.449991 deg. 2025-09-20T19:34:05.708Z,1758396845.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406084 target range: 51.874027 and range: 52.10 m. 2025-09-20T19:34:05.927Z,1758396845.927 [DAT](INFO): DAT read: Rx Time:19:34:08.0289 2025-09-20T19:34:05.928Z,1758396845.928 [DAT](INFO): Rx dataTimestamp_ set to:1758396845.927413 2025-09-20T19:34:05.929Z,1758396845.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978587 2025-09-20T19:34:06.083Z,1758396846.083 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,215180,35.0, +11.8, 03, 0 2025-09-20T19:34:06.099Z,1758396846.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.87 m. 2025-09-20T19:34:06.102Z,1758396846.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.874027 m, nav range: 48.905270 m, bearing: 264.205026 deg, approach rate: -0.711092 m/s, LOS rate: 0.069670 deg/s, cmd heading: 252.449994 deg, new cmd heading: 252.505594 deg. 2025-09-20T19:34:06.103Z,1758396846.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407054 target range: 51.874027 and range: 52.10 m. 2025-09-20T19:34:06.170Z,1758396846.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219353 2025-09-20T19:34:06.426Z,1758396846.426 [DAT](INFO): DAT read: 19:34:08.0289 LVL= 22816, 26609, 24418, 29651, AGC= 60, IDX= 403,-0.07, 1.019,-0.721, 1.107, 0.888, PHS= 0.233,-1.564, 0.175, RAW= 148.4, 13.0, CAL= 148.3, 14.3, ROT= 1.7, -14.3 2025-09-20T19:34:06.427Z,1758396846.427 [DAT](INFO): got valid direction response: 19:34:08.0289 LVL= 22816, 26609, 24418, 29651, AGC= 60, IDX= 403,-0.07, 1.019,-0.721, 1.107, 0.888, PHS= 0.233,-1.564, 0.175, RAW= 148.4, 13.0, CAL= 148.3, 14.3, ROT= 1.7, -14.3 2025-09-20T19:34:06.428Z,1758396846.428 [DAT](INFO): DAT read: Bearing 64.9, -2.4 (Local) 2025-09-20T19:34:06.428Z,1758396846.428 [DAT](INFO): Local bearing/azimuth received: Bearing 64.9, -2.4 (Local) 2025-09-20T19:34:06.429Z,1758396846.429 [DAT](INFO): DAT read: Range 11 to 50 : 49.7 m (Round-trip 66.3 ms) speed 0.5 m/s 2025-09-20T19:34:06.430Z,1758396846.430 [DAT](INFO): DAT read: user:73> 2025-09-20T19:34:06.431Z,1758396846.431 [DAT](INFO): DAT read: Tx time:19:34:09.1584 2025-09-20T19:34:06.431Z,1758396846.431 [DAT](INFO): Ping request sent. 2025-09-20T19:34:06.432Z,1758396846.432 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:34:06.432Z,1758396846.432 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:34:06.433Z,1758396846.433 [DAT](INFO): direction in FSK: [0.968589,0.028747,0.246999] 2025-09-20T19:34:06.433Z,1758396846.433 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:06.433Z,1758396846.433 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:06.436Z,1758396846.436 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:06.437Z,1758396846.437 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:06.573Z,1758396846.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 3.526267 s, deltaX: -2.399998 m, approachRate: -0.680606 m/s, rangeRepo size: 4 2025-09-20T19:34:06.583Z,1758396846.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.484238 m, bearing: 258.690333 deg, lat: 36.779373 deg, lon: -121.859609 deg, deltaT: 3.526267 s, deltaX: -2.389790 m, approachRate: -0.677711 m/s, posRepo size: 4 2025-09-20T19:34:06.584Z,1758396846.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:06.591Z,1758396846.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 48.611874 m, bearing: 264.233181 deg, approach rate: 0.000000 m/s, LOS rate: 0.069670 deg/s, cmd heading: 252.505591 deg, new cmd heading: 252.571552 deg. 2025-09-20T19:34:06.592Z,1758396846.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408205 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:06.936Z,1758396846.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:06.946Z,1758396846.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 48.349106 m, bearing: 264.258117 deg, approach rate: -0.723725 m/s, LOS rate: 0.069054 deg/s, cmd heading: 252.571544 deg, new cmd heading: 252.621687 deg. 2025-09-20T19:34:06.950Z,1758396846.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409080 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:07.364Z,1758396847.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:07.370Z,1758396847.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 48.060680 m, bearing: 264.280240 deg, approach rate: -0.676255 m/s, LOS rate: 0.052182 deg/s, cmd heading: 252.621677 deg, new cmd heading: 252.666189 deg. 2025-09-20T19:34:07.371Z,1758396847.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409857 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:07.735Z,1758396847.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:07.737Z,1758396847.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:07.744Z,1758396847.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 47.812981 m, bearing: 264.298672 deg, approach rate: -0.660716 m/s, LOS rate: 0.049420 deg/s, cmd heading: 252.666183 deg, new cmd heading: 252.703238 deg. 2025-09-20T19:34:07.746Z,1758396847.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410503 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:07.932Z,1758396847.932 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:34:07.932Z,1758396847.932 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:34:07.932Z,1758396847.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:34:08.185Z,1758396848.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753765 2025-09-20T19:34:08.189Z,1758396848.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:08.212Z,1758396848.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 47.517864 m, bearing: 264.315498 deg, approach rate: -0.654160 m/s, LOS rate: 0.037527 deg/s, cmd heading: 252.703230 deg, new cmd heading: 252.737090 deg. 2025-09-20T19:34:08.213Z,1758396848.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411094 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:08.437Z,1758396848.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004944 2025-09-20T19:34:08.563Z,1758396848.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:08.570Z,1758396848.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 47.271339 m, bearing: 264.329329 deg, approach rate: -0.658029 m/s, LOS rate: 0.037113 deg/s, cmd heading: 252.737080 deg, new cmd heading: 252.764888 deg. 2025-09-20T19:34:08.572Z,1758396848.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411580 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:08.688Z,1758396848.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256839 2025-09-20T19:34:08.940Z,1758396848.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508496 2025-09-20T19:34:08.992Z,1758396848.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:09.017Z,1758396849.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 46.996460 m, bearing: 264.344398 deg, approach rate: -0.661122 m/s, LOS rate: 0.036455 deg/s, cmd heading: 252.764893 deg, new cmd heading: 252.795207 deg. 2025-09-20T19:34:09.025Z,1758396849.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412109 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:09.192Z,1758396849.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760442 2025-09-20T19:34:09.394Z,1758396849.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:09.413Z,1758396849.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 46.699745 m, bearing: 264.358705 deg, approach rate: -0.714812 m/s, LOS rate: 0.034685 deg/s, cmd heading: 252.795219 deg, new cmd heading: 252.824014 deg. 2025-09-20T19:34:09.414Z,1758396849.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412611 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:09.445Z,1758396849.445 [DAT](INFO): DAT read: Rx Time:19:34:11.6256 2025-09-20T19:34:09.446Z,1758396849.446 [DAT](INFO): Rx dataTimestamp_ set to:1758396849.445601 2025-09-20T19:34:09.446Z,1758396849.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014861 2025-09-20T19:34:09.549Z,1758396849.549 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:34:09.697Z,1758396849.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264989 2025-09-20T19:34:09.786Z,1758396849.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:09.793Z,1758396849.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.48 m. 2025-09-20T19:34:09.801Z,1758396849.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.484238 m, nav range: 46.446808 m, bearing: 264.370202 deg, approach rate: -0.633904 m/s, LOS rate: 0.028971 deg/s, cmd heading: 252.824015 deg, new cmd heading: 252.847134 deg. 2025-09-20T19:34:09.811Z,1758396849.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413015 target range: 49.484238 and range: 49.70 m. 2025-09-20T19:34:09.954Z,1758396849.954 [DAT](INFO): DAT read: 19:34:11.6256 LVL= 23168, 29217, 25042, 29267, AGC= 64, IDX= 403,-0.02, 1.600,-0.138, 1.827, 1.580, PHS= 0.121,-1.673, 0.202, RAW= 152.2, 14.6, CAL= 152.5, 16.4, ROT= 357.5, -16.4 2025-09-20T19:34:09.955Z,1758396849.955 [DAT](INFO): got valid direction response: 19:34:11.6256 LVL= 23168, 29217, 25042, 29267, AGC= 64, IDX= 403,-0.02, 1.600,-0.138, 1.827, 1.580, PHS= 0.121,-1.673, 0.202, RAW= 152.2, 14.6, CAL= 152.5, 16.4, ROT= 357.5, -16.4 2025-09-20T19:34:09.956Z,1758396849.956 [DAT](INFO): DAT read: Bearing 67.6, -7.1 (Local) 2025-09-20T19:34:09.956Z,1758396849.956 [DAT](INFO): Local bearing/azimuth received: Bearing 67.6, -7.1 (Local) 2025-09-20T19:34:09.958Z,1758396849.958 [DAT](INFO): DAT read: Range 11 to 50 : 47.3 m (Round-trip 63.1 ms) speed 0.5 m/s 2025-09-20T19:34:09.958Z,1758396849.958 [DAT](INFO): DAT read: user:74> 2025-09-20T19:34:09.959Z,1758396849.959 [DAT](INFO): DAT read: Tx time:19:34:12.7583 2025-09-20T19:34:09.960Z,1758396849.960 [DAT](INFO): Ping request sent. 2025-09-20T19:34:09.960Z,1758396849.960 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:34:09.960Z,1758396849.960 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:34:09.961Z,1758396849.961 [DAT](INFO): direction in FSK: [0.958401,-0.041845,0.282341] 2025-09-20T19:34:09.961Z,1758396849.961 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:09.961Z,1758396849.961 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:09.965Z,1758396849.965 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:09.965Z,1758396849.965 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:10.261Z,1758396850.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 3.528065 s, deltaX: -2.400002 m, approachRate: -0.680260 m/s, rangeRepo size: 4 2025-09-20T19:34:10.268Z,1758396850.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.094517 m, bearing: 255.408581 deg, lat: 36.779352 deg, lon: -121.859609 deg, deltaT: 3.528065 s, deltaX: -2.389721 m, approachRate: -0.677346 m/s, posRepo size: 4 2025-09-20T19:34:10.268Z,1758396850.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.09 m. 2025-09-20T19:34:10.275Z,1758396850.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.094517 m, nav range: 46.409855 m, bearing: 261.575949 deg, approach rate: 0.000000 m/s, LOS rate: 0.028971 deg/s, cmd heading: 252.847128 deg, new cmd heading: 252.874243 deg. 2025-09-20T19:34:10.276Z,1758396850.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413488 target range: 47.094517 and range: 47.30 m. 2025-09-20T19:34:10.552Z,1758396850.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:34:10.623Z,1758396850.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.09 m. 2025-09-20T19:34:10.626Z,1758396850.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.094517 m, nav range: 46.157925 m, bearing: 261.567069 deg, approach rate: -0.694947 m/s, LOS rate: -0.024631 deg/s, cmd heading: 252.874230 deg, new cmd heading: 252.856372 deg. 2025-09-20T19:34:10.627Z,1758396850.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413176 target range: 47.094517 and range: 47.30 m. 2025-09-20T19:34:11.109Z,1758396851.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.09 m. 2025-09-20T19:34:11.116Z,1758396851.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.094517 m, nav range: 45.845821 m, bearing: 261.561809 deg, approach rate: -0.643050 m/s, LOS rate: -0.010911 deg/s, cmd heading: 252.856362 deg, new cmd heading: 252.845771 deg. 2025-09-20T19:34:11.116Z,1758396851.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412991 target range: 47.094517 and range: 47.30 m. 2025-09-20T19:34:11.473Z,1758396851.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.09 m. 2025-09-20T19:34:11.476Z,1758396851.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.094517 m, nav range: 45.592548 m, bearing: 261.557106 deg, approach rate: -0.694723 m/s, LOS rate: -0.012973 deg/s, cmd heading: 252.845762 deg, new cmd heading: 252.836303 deg. 2025-09-20T19:34:11.477Z,1758396851.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412826 target range: 47.094517 and range: 47.30 m. 2025-09-20T19:34:11.877Z,1758396851.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:11.880Z,1758396851.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.09 m. 2025-09-20T19:34:11.882Z,1758396851.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.094517 m, nav range: 45.322624 m, bearing: 261.551610 deg, approach rate: -0.664120 m/s, LOS rate: -0.013601 deg/s, cmd heading: 252.836309 deg, new cmd heading: 252.825253 deg. 2025-09-20T19:34:11.883Z,1758396851.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412633 target range: 47.094517 and range: 47.30 m. 2025-09-20T19:34:11.964Z,1758396851.964 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:34:11.964Z,1758396851.964 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:34:11.964Z,1758396851.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:34:12.216Z,1758396852.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256327 2025-09-20T19:34:12.315Z,1758396852.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.09 m. 2025-09-20T19:34:12.318Z,1758396852.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.094517 m, nav range: 45.032730 m, bearing: 261.547001 deg, approach rate: -0.665580 m/s, LOS rate: -0.010652 deg/s, cmd heading: 252.825244 deg, new cmd heading: 252.815965 deg. 2025-09-20T19:34:12.319Z,1758396852.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412471 target range: 47.094517 and range: 47.30 m. 2025-09-20T19:34:12.468Z,1758396852.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508787 2025-09-20T19:34:12.720Z,1758396852.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760361 2025-09-20T19:34:12.835Z,1758396852.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.09 m. 2025-09-20T19:34:12.838Z,1758396852.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.094517 m, nav range: 44.697758 m, bearing: 261.540939 deg, approach rate: -0.649307 m/s, LOS rate: -0.011837 deg/s, cmd heading: 252.815955 deg, new cmd heading: 252.803742 deg. 2025-09-20T19:34:12.841Z,1758396852.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412258 target range: 47.094517 and range: 47.30 m. 2025-09-20T19:34:12.975Z,1758396852.975 [DAT](INFO): DAT read: Rx Time:19:34:15.2225 2025-09-20T19:34:12.975Z,1758396852.975 [DAT](INFO): Rx dataTimestamp_ set to:1758396852.974876 2025-09-20T19:34:12.976Z,1758396852.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016054 2025-09-20T19:34:13.224Z,1758396853.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264274 2025-09-20T19:34:13.328Z,1758396853.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.09 m. 2025-09-20T19:34:13.331Z,1758396853.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.094517 m, nav range: 44.358322 m, bearing: 261.539834 deg, approach rate: -0.682777 m/s, LOS rate: -0.002239 deg/s, cmd heading: 252.803743 deg, new cmd heading: 252.801516 deg. 2025-09-20T19:34:13.332Z,1758396853.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412219 target range: 47.094517 and range: 47.30 m. 2025-09-20T19:34:13.479Z,1758396853.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518736 2025-09-20T19:34:13.734Z,1758396853.734 [DAT](INFO): DAT read: 19:34:15.2225 LVL= 22048, 27569, 22706, 30051, AGC= 64, IDX= 403, 0.08, 1.377,-0.240, 1.741, 1.417, PHS= 0.061,-1.613, 0.279, RAW= 156.1, 14.1, CAL= 156.5, 16.0, ROT= 353.5, -16.0 2025-09-20T19:34:13.736Z,1758396853.736 [DAT](INFO): got valid direction response: 19:34:15.2225 LVL= 22048, 27569, 22706, 30051, AGC= 64, IDX= 403, 0.08, 1.377,-0.240, 1.741, 1.417, PHS= 0.061,-1.613, 0.279, RAW= 156.1, 14.1, CAL= 156.5, 16.0, ROT= 353.5, -16.0 2025-09-20T19:34:13.737Z,1758396853.737 [DAT](INFO): DAT read: Bearing 67.8, -11.6 (Local) 2025-09-20T19:34:13.737Z,1758396853.737 [DAT](INFO): Local bearing/azimuth received: Bearing 67.8, -11.6 (Local) 2025-09-20T19:34:13.738Z,1758396853.738 [DAT](INFO): DAT read: Range 11 to 50 : 45.0 m (Round-trip 60.0 ms) speed 0.7 m/s 2025-09-20T19:34:13.739Z,1758396853.739 [DAT](INFO): DAT read: user:75> 2025-09-20T19:34:13.740Z,1758396853.740 [DAT](INFO): DAT read: Tx time:19:34:16.3083 2025-09-20T19:34:13.740Z,1758396853.740 [DAT](INFO): Ping request sent. 2025-09-20T19:34:13.740Z,1758396853.740 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:34:13.741Z,1758396853.741 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:34:13.742Z,1758396853.742 [DAT](INFO): direction in FSK: [0.955083,-0.108818,0.275637] 2025-09-20T19:34:13.742Z,1758396853.742 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:13.742Z,1758396853.742 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:13.746Z,1758396853.746 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:13.746Z,1758396853.746 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:13.859Z,1758396853.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.000000 m, deltaT: 3.780364 s, deltaX: -2.299999 m, approachRate: -0.608407 m/s, rangeRepo size: 4 2025-09-20T19:34:13.881Z,1758396853.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.804485 m, bearing: 252.286263 deg, lat: 36.779331 deg, lon: -121.859602 deg, deltaT: 3.780364 s, deltaX: -2.290031 m, approachRate: -0.605770 m/s, posRepo size: 4 2025-09-20T19:34:13.882Z,1758396853.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:13.893Z,1758396853.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 43.842335 m, bearing: 258.335596 deg, approach rate: 0.000000 m/s, LOS rate: -0.002239 deg/s, cmd heading: 252.801530 deg, new cmd heading: 252.799156 deg. 2025-09-20T19:34:13.894Z,1758396853.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412178 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:14.271Z,1758396854.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:14.273Z,1758396854.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:14.276Z,1758396854.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 43.545921 m, bearing: 258.315197 deg, approach rate: -0.714234 m/s, LOS rate: -0.049488 deg/s, cmd heading: 252.799153 deg, new cmd heading: 252.758077 deg. 2025-09-20T19:34:14.277Z,1758396854.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411461 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:14.484Z,1758396854.484 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:34:14.484Z,1758396854.484 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:34:14.485Z,1758396854.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:34:14.627Z,1758396854.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:14.630Z,1758396854.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 43.308907 m, bearing: 258.297589 deg, approach rate: -0.669420 m/s, LOS rate: -0.050006 deg/s, cmd heading: 252.758090 deg, new cmd heading: 252.722680 deg. 2025-09-20T19:34:14.631Z,1758396854.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410843 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:14.737Z,1758396854.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996131 2025-09-20T19:34:14.988Z,1758396854.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247562 2025-09-20T19:34:15.038Z,1758396855.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:15.049Z,1758396855.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 43.033520 m, bearing: 258.276463 deg, approach rate: -0.669477 m/s, LOS rate: -0.051686 deg/s, cmd heading: 252.722682 deg, new cmd heading: 252.680160 deg. 2025-09-20T19:34:15.050Z,1758396855.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410101 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:15.240Z,1758396855.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499662 2025-09-20T19:34:15.458Z,1758396855.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:15.461Z,1758396855.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 42.752056 m, bearing: 258.258080 deg, approach rate: -0.670653 m/s, LOS rate: -0.044090 deg/s, cmd heading: 252.680171 deg, new cmd heading: 252.643163 deg. 2025-09-20T19:34:15.462Z,1758396855.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409455 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:15.493Z,1758396855.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752269 2025-09-20T19:34:15.744Z,1758396855.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003541 2025-09-20T19:34:15.843Z,1758396855.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:15.846Z,1758396855.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 42.494026 m, bearing: 258.240828 deg, approach rate: -0.670879 m/s, LOS rate: -0.045126 deg/s, cmd heading: 252.643151 deg, new cmd heading: 252.608439 deg. 2025-09-20T19:34:15.847Z,1758396855.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408849 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:15.996Z,1758396855.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255664 2025-09-20T19:34:16.248Z,1758396856.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507638 2025-09-20T19:34:16.281Z,1758396856.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:16.283Z,1758396856.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:16.286Z,1758396856.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 42.196838 m, bearing: 258.219900 deg, approach rate: -0.674964 m/s, LOS rate: -0.047866 deg/s, cmd heading: 252.608427 deg, new cmd heading: 252.566276 deg. 2025-09-20T19:34:16.287Z,1758396856.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408113 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:16.502Z,1758396856.502 [DAT](INFO): DAT read: Rx Time:19:34:18.7694 2025-09-20T19:34:16.503Z,1758396856.503 [DAT](INFO): Rx dataTimestamp_ set to:1758396856.502041 2025-09-20T19:34:16.504Z,1758396856.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762885 2025-09-20T19:34:16.667Z,1758396856.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:16.671Z,1758396856.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 41.942356 m, bearing: 258.201649 deg, approach rate: -0.664524 m/s, LOS rate: -0.047949 deg/s, cmd heading: 252.566271 deg, new cmd heading: 252.529546 deg. 2025-09-20T19:34:16.672Z,1758396856.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407472 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:16.753Z,1758396856.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012115 2025-09-20T19:34:17.007Z,1758396857.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266093 2025-09-20T19:34:17.169Z,1758396857.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.80 m. 2025-09-20T19:34:17.183Z,1758396857.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.804485 m, nav range: 41.626934 m, bearing: 258.178571 deg, approach rate: -0.629468 m/s, LOS rate: -0.046405 deg/s, cmd heading: 252.529552 deg, new cmd heading: 252.483045 deg. 2025-09-20T19:34:17.184Z,1758396857.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406661 target range: 44.804485 and range: 45.00 m. 2025-09-20T19:34:17.262Z,1758396857.262 [DAT](INFO): DAT read: 19:34:18.7694 LVL= 27248, 32753, 30386, 32755, AGC= 64, IDX= 403, 0.16,-0.717,-2.233,-0.206,-0.557, PHS=-0.058,-1.630, 0.307, RAW= 160.2, 15.3, CAL= 161.1, 18.0, ROT= 348.9, -18.0 2025-09-20T19:34:17.265Z,1758396857.265 [DAT](INFO): got valid direction response: 19:34:18.7694 LVL= 27248, 32753, 30386, 32755, AGC= 64, IDX= 403, 0.16,-0.717,-2.233,-0.206,-0.557, PHS=-0.058,-1.630, 0.307, RAW= 160.2, 15.3, CAL= 161.1, 18.0, ROT= 348.9, -18.0 2025-09-20T19:34:17.266Z,1758396857.266 [DAT](INFO): DAT read: Bearing 69.8, -16.0 (Local) 2025-09-20T19:34:17.267Z,1758396857.267 [DAT](INFO): Local bearing/azimuth received: Bearing 69.8, -16.0 (Local) 2025-09-20T19:34:17.269Z,1758396857.269 [DAT](INFO): DAT read: Range 11 to 50 : 42.6 m (Round-trip 56.9 ms) speed 0.6 m/s 2025-09-20T19:34:17.270Z,1758396857.270 [DAT](INFO): DAT read: user:76> 2025-09-20T19:34:17.279Z,1758396857.279 [DAT](INFO): DAT read: Tx time:19:34:19.8583 2025-09-20T19:34:17.280Z,1758396857.280 [DAT](INFO): Ping request sent. 2025-09-20T19:34:17.280Z,1758396857.280 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:34:17.281Z,1758396857.281 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:34:17.282Z,1758396857.282 [DAT](INFO): direction in FSK: [0.933265,-0.183099,0.309017] 2025-09-20T19:34:17.282Z,1758396857.282 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:17.283Z,1758396857.283 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:17.294Z,1758396857.294 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:17.295Z,1758396857.295 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:17.568Z,1758396857.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.599998 m, deltaT: 3.527697 s, deltaX: -2.400002 m, approachRate: -0.680331 m/s, rangeRepo size: 4 2025-09-20T19:34:17.570Z,1758396857.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.414917 m, bearing: 248.443637 deg, lat: 36.779309 deg, lon: -121.859594 deg, deltaT: 3.527697 s, deltaX: -2.389568 m, approachRate: -0.677373 m/s, posRepo size: 4 2025-09-20T19:34:17.571Z,1758396857.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.41 m. 2025-09-20T19:34:17.573Z,1758396857.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.414917 m, nav range: 41.225544 m, bearing: 254.650388 deg, approach rate: 0.000000 m/s, LOS rate: -0.046405 deg/s, cmd heading: 252.483052 deg, new cmd heading: 252.445920 deg. 2025-09-20T19:34:17.574Z,1758396857.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406013 target range: 42.414917 and range: 42.60 m. 2025-09-20T19:34:17.940Z,1758396857.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.41 m. 2025-09-20T19:34:17.943Z,1758396857.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.414917 m, nav range: 40.973160 m, bearing: 254.605699 deg, approach rate: -0.675988 m/s, LOS rate: -0.120433 deg/s, cmd heading: 252.445923 deg, new cmd heading: 252.355994 deg. 2025-09-20T19:34:17.944Z,1758396857.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404443 target range: 42.414917 and range: 42.60 m. 2025-09-20T19:34:18.409Z,1758396858.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:18.411Z,1758396858.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.41 m. 2025-09-20T19:34:18.414Z,1758396858.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.414917 m, nav range: 40.657330 m, bearing: 254.549707 deg, approach rate: -0.670998 m/s, LOS rate: -0.119882 deg/s, cmd heading: 252.355983 deg, new cmd heading: 252.243129 deg. 2025-09-20T19:34:18.415Z,1758396858.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402473 target range: 42.414917 and range: 42.60 m. 2025-09-20T19:34:18.517Z,1758396858.517 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:34:18.517Z,1758396858.517 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:34:18.517Z,1758396858.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:34:18.768Z,1758396858.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488126 2025-09-20T19:34:18.832Z,1758396858.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.41 m. 2025-09-20T19:34:18.835Z,1758396858.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.414917 m, nav range: 40.381699 m, bearing: 254.500110 deg, approach rate: -0.655060 m/s, LOS rate: -0.118677 deg/s, cmd heading: 252.243121 deg, new cmd heading: 252.143249 deg. 2025-09-20T19:34:18.859Z,1758396858.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400730 target range: 42.414917 and range: 42.60 m. 2025-09-20T19:34:19.021Z,1758396859.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740684 2025-09-20T19:34:19.272Z,1758396859.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992089 2025-09-20T19:34:19.356Z,1758396859.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.41 m. 2025-09-20T19:34:19.358Z,1758396859.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.414917 m, nav range: 40.026649 m, bearing: 254.434637 deg, approach rate: -0.678035 m/s, LOS rate: -0.126143 deg/s, cmd heading: 252.143236 deg, new cmd heading: 252.011128 deg. 2025-09-20T19:34:19.364Z,1758396859.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398424 target range: 42.414917 and range: 42.60 m. 2025-09-20T19:34:19.524Z,1758396859.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244041 2025-09-20T19:34:19.717Z,1758396859.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.41 m. 2025-09-20T19:34:19.720Z,1758396859.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.414917 m, nav range: 39.776905 m, bearing: 254.387866 deg, approach rate: -0.690791 m/s, LOS rate: -0.130179 deg/s, cmd heading: 252.011140 deg, new cmd heading: 251.917012 deg. 2025-09-20T19:34:19.721Z,1758396859.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396781 target range: 42.414917 and range: 42.60 m. 2025-09-20T19:34:19.782Z,1758396859.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502124 2025-09-20T19:34:20.028Z,1758396860.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748054 2025-09-20T19:34:20.123Z,1758396860.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.41 m. 2025-09-20T19:34:20.126Z,1758396860.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.414917 m, nav range: 39.503326 m, bearing: 254.336030 deg, approach rate: -0.673945 m/s, LOS rate: -0.128580 deg/s, cmd heading: 251.917020 deg, new cmd heading: 251.812629 deg. 2025-09-20T19:34:20.143Z,1758396860.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394959 target range: 42.414917 and range: 42.60 m. 2025-09-20T19:34:20.280Z,1758396860.280 [DAT](INFO): DAT read: Rx Time:19:34:22.3163 2025-09-20T19:34:20.281Z,1758396860.281 [DAT](INFO): Rx dataTimestamp_ set to:1758396860.280615 2025-09-20T19:34:20.282Z,1758396860.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001931 2025-09-20T19:34:20.532Z,1758396860.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252206 2025-09-20T19:34:20.627Z,1758396860.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:20.630Z,1758396860.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.41 m. 2025-09-20T19:34:20.644Z,1758396860.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.414917 m, nav range: 39.191845 m, bearing: 254.281349 deg, approach rate: -0.615306 m/s, LOS rate: -0.108876 deg/s, cmd heading: 251.812628 deg, new cmd heading: 251.702397 deg. 2025-09-20T19:34:20.646Z,1758396860.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393035 target range: 42.414917 and range: 42.60 m. 2025-09-20T19:34:20.793Z,1758396860.793 [DAT](INFO): DAT read: 19:34:22.3163 LVL= 22464, 31121, 26322, 32051, AGC= 62, IDX= 403, 0.07, 2.216, 0.733, 2.813, 2.380, PHS=-0.062,-1.602, 0.389, RAW= 162.5, 14.0, CAL= 163.1, 16.4, ROT= 346.9, -16.4 2025-09-20T19:34:20.794Z,1758396860.794 [DAT](INFO): got valid direction response: 19:34:22.3163 LVL= 22464, 31121, 26322, 32051, AGC= 62, IDX= 403, 0.07, 2.216, 0.733, 2.813, 2.380, PHS=-0.062,-1.602, 0.389, RAW= 162.5, 14.0, CAL= 163.1, 16.4, ROT= 346.9, -16.4 2025-09-20T19:34:20.796Z,1758396860.796 [DAT](INFO): DAT read: Bearing 67.2, -18.0 (Local) 2025-09-20T19:34:20.796Z,1758396860.796 [DAT](INFO): Local bearing/azimuth received: Bearing 67.2, -18.0 (Local) 2025-09-20T19:34:20.798Z,1758396860.798 [DAT](INFO): DAT read: Range 11 to 50 : 40.3 m (Round-trip 53.8 ms) speed 0.5 m/s 2025-09-20T19:34:20.800Z,1758396860.800 [DAT](INFO): DAT read: user:77> 2025-09-20T19:34:20.802Z,1758396860.802 [DAT](INFO): DAT read: Tx time:19:34:23.4083 2025-09-20T19:34:20.802Z,1758396860.802 [DAT](INFO): Ping request sent. 2025-09-20T19:34:20.802Z,1758396860.802 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:34:20.803Z,1758396860.803 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:34:20.816Z,1758396860.816 [DAT](INFO): direction in FSK: [0.934349,-0.217430,0.282341] 2025-09-20T19:34:20.817Z,1758396860.817 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:20.817Z,1758396860.817 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:20.820Z,1758396860.820 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:20.820Z,1758396860.820 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:21.011Z,1758396861.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.299999 m, deltaT: 3.528918 s, deltaX: -2.299999 m, approachRate: -0.651758 m/s, rangeRepo size: 4 2025-09-20T19:34:21.013Z,1758396861.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.124943 m, bearing: 246.419418 deg, lat: 36.779290 deg, lon: -121.859590 deg, deltaT: 3.528918 s, deltaX: -2.289974 m, approachRate: -0.648917 m/s, posRepo size: 4 2025-09-20T19:34:21.014Z,1758396861.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.12 m. 2025-09-20T19:34:21.021Z,1758396861.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.124943 m, nav range: 39.230373 m, bearing: 251.162404 deg, approach rate: 0.000000 m/s, LOS rate: -0.108876 deg/s, cmd heading: 251.702388 deg, new cmd heading: 251.620277 deg. 2025-09-20T19:34:21.022Z,1758396861.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391603 target range: 40.124943 and range: 40.30 m. 2025-09-20T19:34:21.362Z,1758396861.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.12 m. 2025-09-20T19:34:21.365Z,1758396861.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.124943 m, nav range: 38.953053 m, bearing: 251.085703 deg, approach rate: -0.779984 m/s, LOS rate: -0.217263 deg/s, cmd heading: 251.620289 deg, new cmd heading: 251.465795 deg. 2025-09-20T19:34:21.366Z,1758396861.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388906 target range: 40.124943 and range: 40.30 m. 2025-09-20T19:34:21.744Z,1758396861.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.12 m. 2025-09-20T19:34:21.747Z,1758396861.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.124943 m, nav range: 38.697208 m, bearing: 251.014248 deg, approach rate: -0.669484 m/s, LOS rate: -0.188216 deg/s, cmd heading: 251.465791 deg, new cmd heading: 251.321937 deg. 2025-09-20T19:34:21.748Z,1758396861.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386395 target range: 40.124943 and range: 40.30 m. 2025-09-20T19:34:22.188Z,1758396862.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.12 m. 2025-09-20T19:34:22.213Z,1758396862.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.124943 m, nav range: 38.413338 m, bearing: 250.933957 deg, approach rate: -0.664957 m/s, LOS rate: -0.189468 deg/s, cmd heading: 251.321947 deg, new cmd heading: 251.160179 deg. 2025-09-20T19:34:22.221Z,1758396862.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383572 target range: 40.124943 and range: 40.30 m. 2025-09-20T19:34:22.546Z,1758396862.546 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032723220804,35.0, 0.0,1496.1, 0 2025-09-20T19:34:22.563Z,1758396862.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.12 m. 2025-09-20T19:34:22.566Z,1758396862.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.124943 m, nav range: 38.146954 m, bearing: 250.857492 deg, approach rate: -0.679785 m/s, LOS rate: -0.196494 deg/s, cmd heading: 251.160181 deg, new cmd heading: 251.006183 deg. 2025-09-20T19:34:22.567Z,1758396862.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380884 target range: 40.124943 and range: 40.30 m. 2025-09-20T19:34:23.062Z,1758396863.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:23.064Z,1758396863.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.12 m. 2025-09-20T19:34:23.067Z,1758396863.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.124943 m, nav range: 37.811226 m, bearing: 250.760149 deg, approach rate: -0.669304 m/s, LOS rate: -0.195785 deg/s, cmd heading: 251.006174 deg, new cmd heading: 250.809760 deg. 2025-09-20T19:34:23.068Z,1758396863.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377456 target range: 40.124943 and range: 40.30 m. 2025-09-20T19:34:23.308Z,1758396863.308 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:34:23.308Z,1758396863.308 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:34:23.308Z,1758396863.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:34:23.483Z,1758396863.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.12 m. 2025-09-20T19:34:23.486Z,1758396863.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.124943 m, nav range: 37.537174 m, bearing: 250.672283 deg, approach rate: -0.655289 m/s, LOS rate: -0.211631 deg/s, cmd heading: 250.809765 deg, new cmd heading: 250.632751 deg. 2025-09-20T19:34:23.487Z,1758396863.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374367 target range: 40.124943 and range: 40.30 m. 2025-09-20T19:34:23.560Z,1758396863.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757856 2025-09-20T19:34:23.812Z,1758396863.812 [DAT](INFO): DAT read: Rx Time:19:34:25.8632 2025-09-20T19:34:23.813Z,1758396863.813 [DAT](INFO): Rx dataTimestamp_ set to:1758396863.812298 2025-09-20T19:34:23.813Z,1758396863.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010895 2025-09-20T19:34:23.943Z,1758396863.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.12 m. 2025-09-20T19:34:23.946Z,1758396863.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.124943 m, nav range: 37.248837 m, bearing: 250.579209 deg, approach rate: -0.626215 m/s, LOS rate: -0.203704 deg/s, cmd heading: 250.632753 deg, new cmd heading: 250.445165 deg. 2025-09-20T19:34:23.947Z,1758396863.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371093 target range: 40.124943 and range: 40.30 m. 2025-09-20T19:34:24.064Z,1758396864.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262090 2025-09-20T19:34:24.322Z,1758396864.322 [DAT](INFO): DAT read: 19:34:25.8632 LVL= 30688, 32753, 32754, 32755, AGC= 64, IDX= 404,-0.11,-1.644,-3.066,-0.940,-1.380, PHS=-0.163,-1.641, 0.396, RAW= 165.4, 15.3, CAL= 166.1, 18.5, ROT= 343.9, -18.5 2025-09-20T19:34:24.324Z,1758396864.324 [DAT](INFO): got valid direction response: 19:34:25.8632 LVL= 30688, 32753, 32754, 32755, AGC= 64, IDX= 404,-0.11,-1.644,-3.066,-0.940,-1.380, PHS=-0.163,-1.641, 0.396, RAW= 165.4, 15.3, CAL= 166.1, 18.5, ROT= 343.9, -18.5 2025-09-20T19:34:24.325Z,1758396864.325 [DAT](INFO): DAT read: Bearing 68.3, -20.5 (Local) 2025-09-20T19:34:24.325Z,1758396864.325 [DAT](INFO): Local bearing/azimuth received: Bearing 68.3, -20.5 (Local) 2025-09-20T19:34:24.326Z,1758396864.326 [DAT](INFO): DAT read: Range 11 to 50 : 38.0 m (Round-trip 50.7 ms) speed 0.5 m/s 2025-09-20T19:34:24.327Z,1758396864.327 [DAT](INFO): DAT read: user:78> 2025-09-20T19:34:24.328Z,1758396864.328 [DAT](INFO): DAT read: Tx time:19:34:26.9583 2025-09-20T19:34:24.328Z,1758396864.328 [DAT](INFO): Ping request sent. 2025-09-20T19:34:24.328Z,1758396864.328 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:34:24.328Z,1758396864.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:34:24.329Z,1758396864.329 [DAT](INFO): direction in FSK: [0.911130,-0.262984,0.317305] 2025-09-20T19:34:24.330Z,1758396864.330 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:24.330Z,1758396864.330 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:24.333Z,1758396864.333 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:24.333Z,1758396864.333 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:24.427Z,1758396864.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 3.531063 s, deltaX: -2.299999 m, approachRate: -0.651362 m/s, rangeRepo size: 4 2025-09-20T19:34:24.429Z,1758396864.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.834816 m, bearing: 243.412039 deg, lat: 36.779271 deg, lon: -121.859579 deg, deltaT: 3.531063 s, deltaX: -2.290127 m, approachRate: -0.648566 m/s, posRepo size: 4 2025-09-20T19:34:24.430Z,1758396864.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:24.437Z,1758396864.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 36.802708 m, bearing: 246.770282 deg, approach rate: 0.000000 m/s, LOS rate: -0.203704 deg/s, cmd heading: 250.445169 deg, new cmd heading: 250.248329 deg. 2025-09-20T19:34:24.438Z,1758396864.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367657 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:24.740Z,1758396864.740 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-09-20T19:34:24.740Z,1758396864.740 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-09-20T19:34:24.740Z,1758396864.740 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-09-20T19:34:24.741Z,1758396864.741 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.000000 m (mode 2.000000 count ). 2025-09-20T19:34:24.741Z,1758396864.741 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-09-20T19:34:24.741Z,1758396864.741 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-09-20T19:34:24.744Z,1758396864.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:24.747Z,1758396864.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 36.588394 m, bearing: 246.677733 deg, approach rate: -0.674672 m/s, LOS rate: -0.293056 deg/s, cmd heading: 250.248323 deg, new cmd heading: 250.062141 deg. 2025-09-20T19:34:24.748Z,1758396864.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364408 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:25.161Z,1758396865.161 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-09-20T19:34:25.161Z,1758396865.161 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-09-20T19:34:25.162Z,1758396865.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:25.164Z,1758396865.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:25.167Z,1758396865.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 36.316208 m, bearing: 246.559362 deg, approach rate: -0.647461 m/s, LOS rate: -0.283683 deg/s, cmd heading: 250.062132 deg, new cmd heading: 249.823619 deg. 2025-09-20T19:34:25.168Z,1758396865.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360245 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:25.324Z,1758396865.324 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:34:25.324Z,1758396865.324 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:34:25.324Z,1758396865.324 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-09-20T19:34:25.557Z,1758396865.557 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-09-20T19:34:25.557Z,1758396865.557 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-09-20T19:34:25.576Z,1758396865.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247636 2025-09-20T19:34:25.577Z,1758396865.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:25.584Z,1758396865.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 36.057022 m, bearing: 246.444720 deg, approach rate: -0.656439 m/s, LOS rate: -0.292442 deg/s, cmd heading: 249.823622 deg, new cmd heading: 249.592690 deg. 2025-09-20T19:34:25.585Z,1758396865.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356214 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:25.828Z,1758396865.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500057 2025-09-20T19:34:25.947Z,1758396865.947 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-09-20T19:34:25.948Z,1758396865.948 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-09-20T19:34:25.948Z,1758396865.948 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-09-20T19:34:25.948Z,1758396865.948 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-09-20T19:34:25.968Z,1758396865.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:25.976Z,1758396865.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 35.801491 m, bearing: 246.330610 deg, approach rate: -0.631437 m/s, LOS rate: -0.283985 deg/s, cmd heading: 249.592680 deg, new cmd heading: 249.362833 deg. 2025-09-20T19:34:25.977Z,1758396865.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352202 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:26.080Z,1758396866.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751701 2025-09-20T19:34:26.336Z,1758396866.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007733 2025-09-20T19:34:26.494Z,1758396866.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:26.497Z,1758396866.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 35.442532 m, bearing: 246.169828 deg, approach rate: -0.676472 m/s, LOS rate: -0.306069 deg/s, cmd heading: 249.362830 deg, new cmd heading: 249.038012 deg. 2025-09-20T19:34:26.498Z,1758396866.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346533 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:26.587Z,1758396866.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258202 2025-09-20T19:34:26.836Z,1758396866.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507772 2025-09-20T19:34:26.883Z,1758396866.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:26.886Z,1758396866.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 35.186867 m, bearing: 246.054066 deg, approach rate: -0.658363 m/s, LOS rate: -0.300265 deg/s, cmd heading: 249.038014 deg, new cmd heading: 248.804808 deg. 2025-09-20T19:34:26.887Z,1758396866.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342463 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:27.088Z,1758396867.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760084 2025-09-20T19:34:27.340Z,1758396867.340 [DAT](INFO): DAT read: Rx Time:19:34:29.4102 2025-09-20T19:34:27.341Z,1758396867.341 [DAT](INFO): Rx dataTimestamp_ set to:1758396867.340334 2025-09-20T19:34:27.341Z,1758396867.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012931 2025-09-20T19:34:27.420Z,1758396867.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:27.422Z,1758396867.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:27.425Z,1758396867.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 34.829926 m, bearing: 245.885616 deg, approach rate: -0.662307 m/s, LOS rate: -0.315762 deg/s, cmd heading: 248.804804 deg, new cmd heading: 248.464456 deg. 2025-09-20T19:34:27.426Z,1758396867.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336523 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:27.592Z,1758396867.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263652 2025-09-20T19:34:27.793Z,1758396867.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.83 m. 2025-09-20T19:34:27.798Z,1758396867.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.834816 m, nav range: 34.602268 m, bearing: 245.777169 deg, approach rate: -0.612842 m/s, LOS rate: -0.293856 deg/s, cmd heading: 248.464469 deg, new cmd heading: 248.246148 deg. 2025-09-20T19:34:27.804Z,1758396867.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332713 target range: 37.834816 and range: 38.00 m. 2025-09-20T19:34:27.850Z,1758396867.850 [DAT](INFO): DAT read: 19:34:29.4102 LVL= 22224, 32753, 22178, 32755, AGC= 64, IDX= 405, 0.29,-2.045, 2.831,-1.378,-1.848, PHS=-0.094,-1.559, 0.426, RAW= 164.7, 13.7, CAL= 165.1, 16.1, ROT= 344.9, -16.1 2025-09-20T19:34:27.851Z,1758396867.851 [DAT](INFO): got valid direction response: 19:34:29.4102 LVL= 22224, 32753, 22178, 32755, AGC= 64, IDX= 405, 0.29,-2.045, 2.831,-1.378,-1.848, PHS=-0.094,-1.559, 0.426, RAW= 164.7, 13.7, CAL= 165.1, 16.1, ROT= 344.9, -16.1 2025-09-20T19:34:27.852Z,1758396867.852 [DAT](INFO): DAT read: Bearing 63.8, -19.0 (Local) 2025-09-20T19:34:27.852Z,1758396867.852 [DAT](INFO): Local bearing/azimuth received: Bearing 63.8, -19.0 (Local) 2025-09-20T19:34:27.854Z,1758396867.854 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m (Round-trip 47.7 ms) speed 0.7 m/s 2025-09-20T19:34:27.854Z,1758396867.854 [DAT](INFO): DAT read: user:79> 2025-09-20T19:34:27.855Z,1758396867.855 [DAT](INFO): DAT read: Tx time:19:34:30.5083 2025-09-20T19:34:27.856Z,1758396867.856 [DAT](INFO): Ping request sent. 2025-09-20T19:34:27.856Z,1758396867.856 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:34:27.856Z,1758396867.856 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:34:27.857Z,1758396867.857 [DAT](INFO): direction in FSK: [0.927606,-0.250287,0.277315] 2025-09-20T19:34:27.857Z,1758396867.857 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:27.857Z,1758396867.857 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:27.861Z,1758396867.861 [DAT](INFO): publishing transmit ping time 2025-09-20T19:34:27.862Z,1758396867.862 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:27.869Z,1758396867.869 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.013492 2025-09-20T19:34:28.096Z,1758396868.096 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.240268 2025-09-20T19:34:28.192Z,1758396868.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 3.528052 s, deltaX: -2.299999 m, approachRate: -0.651918 m/s, rangeRepo size: 4 2025-09-20T19:34:28.194Z,1758396868.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.544788 m, bearing: 243.390195 deg, lat: 36.779263 deg, lon: -121.859577 deg, deltaT: 3.528052 s, deltaX: -2.290028 m, approachRate: -0.649091 m/s, posRepo size: 4 2025-09-20T19:34:28.196Z,1758396868.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.54 m. 2025-09-20T19:34:28.199Z,1758396868.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.544788 m, nav range: 34.555683 m, bearing: 244.229541 deg, approach rate: 0.000000 m/s, LOS rate: -0.293856 deg/s, cmd heading: 248.246149 deg, new cmd heading: 248.012772 deg. 2025-09-20T19:34:28.200Z,1758396868.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328640 target range: 35.544788 and range: 35.70 m. 2025-09-20T19:34:28.348Z,1758396868.348 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492333 2025-09-20T19:34:28.609Z,1758396868.609 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.752779 2025-09-20T19:34:28.658Z,1758396868.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.54 m. 2025-09-20T19:34:28.665Z,1758396868.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.544788 m, nav range: 34.248333 m, bearing: 244.070591 deg, approach rate: -0.657749 m/s, LOS rate: -0.343216 deg/s, cmd heading: 248.012775 deg, new cmd heading: 247.692025 deg. 2025-09-20T19:34:28.665Z,1758396868.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323041 target range: 35.544788 and range: 35.70 m. 2025-09-20T19:34:28.860Z,1758396868.860 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.004221 2025-09-20T19:34:29.006Z,1758396869.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.54 m. 2025-09-20T19:34:29.008Z,1758396869.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.544788 m, nav range: 34.006588 m, bearing: 243.944701 deg, approach rate: -0.694652 m/s, LOS rate: -0.364313 deg/s, cmd heading: 247.692029 deg, new cmd heading: 247.438462 deg. 2025-09-20T19:34:29.009Z,1758396869.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318616 target range: 35.544788 and range: 35.70 m. 2025-09-20T19:34:29.113Z,1758396869.113 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.257403 2025-09-20T19:34:29.364Z,1758396869.364 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.508137 2025-09-20T19:34:29.430Z,1758396869.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:29.432Z,1758396869.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.54 m. 2025-09-20T19:34:29.435Z,1758396869.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.544788 m, nav range: 33.733448 m, bearing: 243.802701 deg, approach rate: -0.640140 m/s, LOS rate: -0.335492 deg/s, cmd heading: 247.438465 deg, new cmd heading: 247.152167 deg. 2025-09-20T19:34:29.436Z,1758396869.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313619 target range: 35.544788 and range: 35.70 m. 2025-09-20T19:34:29.618Z,1758396869.618 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.761610 2025-09-20T19:34:29.826Z,1758396869.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.54 m. 2025-09-20T19:34:29.833Z,1758396869.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.544788 m, nav range: 33.479687 m, bearing: 243.671120 deg, approach rate: -0.644683 m/s, LOS rate: -0.336815 deg/s, cmd heading: 247.152171 deg, new cmd heading: 246.887017 deg. 2025-09-20T19:34:29.834Z,1758396869.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308991 target range: 35.544788 and range: 35.70 m. 2025-09-20T19:34:29.868Z,1758396869.868 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.012285 2025-09-20T19:34:30.121Z,1758396870.121 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.265667 2025-09-20T19:34:30.266Z,1758396870.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.54 m. 2025-09-20T19:34:30.289Z,1758396870.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.544788 m, nav range: 33.224609 m, bearing: 243.538166 deg, approach rate: -0.582115 m/s, LOS rate: -0.305746 deg/s, cmd heading: 246.887023 deg, new cmd heading: 246.619075 deg. 2025-09-20T19:34:30.290Z,1758396870.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304315 target range: 35.544788 and range: 35.70 m. 2025-09-20T19:34:30.373Z,1758396870.373 [DAT](INFO): DAT read: Rx Time:19:34:32.6823 2025-09-20T19:34:30.373Z,1758396870.373 [DAT](INFO): Rx dataTimestamp_ set to:1758396870.372947 2025-09-20T19:34:30.375Z,1758396870.375 [DAT](INFO): DAT read: Bearing 62.2, -16.6 (Local) 2025-09-20T19:34:30.375Z,1758396870.375 [DAT](INFO): Local bearing/azimuth received: Bearing 62.2, -16.6 (Local) 2025-09-20T19:34:30.377Z,1758396870.377 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.6 2025-09-20T19:34:30.382Z,1758396870.382 [DAT](INFO): DAT read: 19:34:32.6823 LVL= 24304, 28353, 27218, 31603, AGC= 67, IDX= 151,-0.06, 2.294, 0.860, 2.911, 2.478, PHS=-0.082,-1.573, 0.388, RAW= 163.3, 14.2, CAL= 163.9, 16.7, ROT= 346.1, -16.7 2025-09-20T19:34:30.383Z,1758396870.383 [DAT](INFO): got valid direction response: 19:34:32.6823 LVL= 24304, 28353, 27218, 31603, AGC= 67, IDX= 151,-0.06, 2.294, 0.860, 2.911, 2.478, PHS=-0.082,-1.573, 0.388, RAW= 163.3, 14.2, CAL= 163.9, 16.7, ROT= 346.1, -16.7 2025-09-20T19:34:30.383Z,1758396870.383 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-09-20T19:34:30.384Z,1758396870.384 [DAT](INFO): direction in FSK: [0.929774,-0.230096,0.287361] 2025-09-20T19:34:30.384Z,1758396870.384 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:30.388Z,1758396870.388 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.532124 2025-09-20T19:34:30.625Z,1758396870.625 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.768967 2025-09-20T19:34:30.834Z,1758396870.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 2.529392 s, deltaX: -2.100002 m, approachRate: -0.830240 m/s, rangeRepo size: 4 2025-09-20T19:34:30.841Z,1758396870.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.453815 m, bearing: 243.708115 deg, lat: 36.779263 deg, lon: -121.859575 deg, deltaT: 2.529392 s, deltaX: -2.090973 m, approachRate: -0.826670 m/s, posRepo size: 4 2025-09-20T19:34:30.841Z,1758396870.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.45 m. 2025-09-20T19:34:30.848Z,1758396870.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.453815 m, nav range: 32.661945 m, bearing: 243.182229 deg, approach rate: 0.000000 m/s, LOS rate: -0.305746 deg/s, cmd heading: 246.619088 deg, new cmd heading: 246.270858 deg. 2025-09-20T19:34:30.849Z,1758396870.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298237 target range: 33.453815 and range: 33.60 m. 2025-09-20T19:34:30.877Z,1758396870.877 [DAT](INFO): DAT read: Rx Time:19:34:33.1820 2025-09-20T19:34:30.877Z,1758396870.877 [DAT](INFO): Rx dataTimestamp_ set to:1758396870.877097 2025-09-20T19:34:30.879Z,1758396870.879 [DAT](INFO): DAT read: Bearing 62.0, -15.9 (Local) 2025-09-20T19:34:30.879Z,1758396870.879 [DAT](INFO): Local bearing/azimuth received: Bearing 62.0, -15.9 (Local) 2025-09-20T19:34:30.881Z,1758396870.881 [DAT](INFO): DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.6 2025-09-20T19:34:30.886Z,1758396870.886 [DAT](INFO): DAT read: 19:34:33.1820 LVL= 22000, 31553, 24658, 32755, AGC= 64, IDX= 500,-0.22, 0.666,-0.770, 1.259, 0.844, PHS=-0.076,-1.568, 0.371, RAW= 162.7, 14.4, CAL= 163.4, 16.9, ROT= 346.6, -16.9 2025-09-20T19:34:30.887Z,1758396870.887 [DAT](INFO): got valid direction response: 19:34:33.1820 LVL= 22000, 31553, 24658, 32755, AGC= 64, IDX= 500,-0.22, 0.666,-0.770, 1.259, 0.844, PHS=-0.076,-1.568, 0.371, RAW= 162.7, 14.4, CAL= 163.4, 16.9, ROT= 346.6, -16.9 2025-09-20T19:34:30.887Z,1758396870.887 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-09-20T19:34:30.888Z,1758396870.888 [DAT](INFO): direction in FSK: [0.930765,-0.221740,0.290702] 2025-09-20T19:34:30.888Z,1758396870.888 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:30.896Z,1758396870.896 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.040387 2025-09-20T19:34:31.130Z,1758396871.130 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.274285 2025-09-20T19:34:31.201Z,1758396871.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504150 s, deltaX: -0.399998 m, approachRate: -0.793410 m/s, rangeRepo size: 4 2025-09-20T19:34:31.203Z,1758396871.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.055439 m, bearing: 243.825505 deg, lat: 36.779263 deg, lon: -121.859573 deg, deltaT: 0.504150 s, deltaX: -0.398376 m, approachRate: -0.790194 m/s, posRepo size: 4 2025-09-20T19:34:31.219Z,1758396871.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.06 m. 2025-09-20T19:34:31.222Z,1758396871.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.055439 m, nav range: 32.247425 m, bearing: 242.904112 deg, approach rate: 0.000000 m/s, LOS rate: -0.305746 deg/s, cmd heading: 246.270858 deg, new cmd heading: 246.046846 deg. 2025-09-20T19:34:31.224Z,1758396871.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294328 target range: 33.055439 and range: 33.20 m. 2025-09-20T19:34:31.382Z,1758396871.382 [DAT](INFO): DAT read: Rx Time:19:34:33.6818 2025-09-20T19:34:31.382Z,1758396871.382 [DAT](INFO): Rx dataTimestamp_ set to:1758396871.381770 2025-09-20T19:34:31.402Z,1758396871.402 [DAT](INFO): DAT read: Bearing 61.6, -15.5 (Local) 2025-09-20T19:34:31.402Z,1758396871.402 [DAT](INFO): Local bearing/azimuth received: Bearing 61.6, -15.5 (Local) 2025-09-20T19:34:31.404Z,1758396871.404 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.6 2025-09-20T19:34:31.409Z,1758396871.409 [DAT](INFO): DAT read: 19:34:33.6818 LVL= 23120, 28769, 26098, 31219, AGC= 62, IDX= 499,-0.43, 2.022, 0.547, 2.619, 2.200, PHS=-0.076,-1.608, 0.375, RAW= 162.5, 14.4, CAL= 163.2, 17.0, ROT= 346.8, -17.0 2025-09-20T19:34:31.410Z,1758396871.410 [DAT](INFO): got valid direction response: 19:34:33.6818 LVL= 23120, 28769, 26098, 31219, AGC= 62, IDX= 499,-0.43, 2.022, 0.547, 2.619, 2.200, PHS=-0.076,-1.608, 0.375, RAW= 162.5, 14.4, CAL= 163.2, 17.0, ROT= 346.8, -17.0 2025-09-20T19:34:31.410Z,1758396871.410 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-09-20T19:34:31.411Z,1758396871.411 [DAT](INFO): direction in FSK: [0.931038,-0.218373,0.292372] 2025-09-20T19:34:31.412Z,1758396871.412 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:31.415Z,1758396871.415 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.559418 2025-09-20T19:34:31.633Z,1758396871.633 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.777025 2025-09-20T19:34:31.686Z,1758396871.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504673 s, deltaX: -0.299999 m, approachRate: -0.594443 m/s, rangeRepo size: 4 2025-09-20T19:34:31.688Z,1758396871.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.756748 m, bearing: 243.838780 deg, lat: 36.779267 deg, lon: -121.859572 deg, deltaT: 0.504673 s, deltaX: -0.298691 m, approachRate: -0.591850 m/s, posRepo size: 4 2025-09-20T19:34:31.689Z,1758396871.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-09-20T19:34:31.692Z,1758396871.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.756748 m, nav range: 31.652323 m, bearing: 243.331838 deg, approach rate: 0.000000 m/s, LOS rate: -0.305746 deg/s, cmd heading: 246.046855 deg, new cmd heading: 245.750041 deg. 2025-09-20T19:34:31.693Z,1758396871.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289147 target range: 32.756748 and range: 32.90 m. 2025-09-20T19:34:31.885Z,1758396871.885 [DAT](INFO): DAT read: Rx Time:19:34:34.1815 2025-09-20T19:34:31.885Z,1758396871.885 [DAT](INFO): Rx dataTimestamp_ set to:1758396871.884936 2025-09-20T19:34:31.886Z,1758396871.886 [DAT](INFO): DAT read: Bearing 61.1, -15.1 (Local) 2025-09-20T19:34:31.887Z,1758396871.887 [DAT](INFO): Local bearing/azimuth received: Bearing 61.1, -15.1 (Local) 2025-09-20T19:34:31.889Z,1758396871.889 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.6 2025-09-20T19:34:31.902Z,1758396871.902 [DAT](INFO): DAT read: 19:34:34.1815 LVL= 21600, 31953, 26898, 32755, AGC= 61, IDX= 495, 0.47, 1.138,-0.339, 1.723, 1.310, PHS=-0.070,-1.604, 0.370, RAW= 162.2, 14.4, CAL= 162.9, 16.9, ROT= 347.1, -16.9 2025-09-20T19:34:31.907Z,1758396871.907 [DAT](INFO): got valid direction response: 19:34:34.1815 LVL= 21600, 31953, 26898, 32755, AGC= 61, IDX= 495, 0.47, 1.138,-0.339, 1.723, 1.310, PHS=-0.070,-1.604, 0.370, RAW= 162.2, 14.4, CAL= 162.9, 16.9, ROT= 347.1, -16.9 2025-09-20T19:34:31.908Z,1758396871.908 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-09-20T19:34:31.909Z,1758396871.909 [DAT](INFO): direction in FSK: [0.932665,-0.213609,0.290702] 2025-09-20T19:34:31.909Z,1758396871.909 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:31.926Z,1758396871.926 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.070289 2025-09-20T19:34:32.086Z,1758396872.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503166 s, deltaX: -0.500000 m, approachRate: -0.993708 m/s, rangeRepo size: 4 2025-09-20T19:34:32.092Z,1758396872.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.258793 m, bearing: 243.908996 deg, lat: 36.779269 deg, lon: -121.859572 deg, deltaT: 0.503166 s, deltaX: -0.497955 m, approachRate: -0.989644 m/s, posRepo size: 4 2025-09-20T19:34:32.093Z,1758396872.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.26 m. 2025-09-20T19:34:32.100Z,1758396872.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.258793 m, nav range: 31.307327 m, bearing: 243.559991 deg, approach rate: 0.000000 m/s, LOS rate: -0.305746 deg/s, cmd heading: 245.750042 deg, new cmd heading: 245.505581 deg. 2025-09-20T19:34:32.101Z,1758396872.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284881 target range: 32.258793 and range: 32.40 m. 2025-09-20T19:34:32.137Z,1758396872.137 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.281450 2025-09-20T19:34:32.393Z,1758396872.393 [DAT](INFO): DAT read: Rx Time:19:34:34.6813 2025-09-20T19:34:32.393Z,1758396872.393 [DAT](INFO): Rx dataTimestamp_ set to:1758396872.393018 2025-09-20T19:34:32.395Z,1758396872.395 [DAT](INFO): DAT read: Bearing 60.4, -14.1 (Local) 2025-09-20T19:34:32.396Z,1758396872.396 [DAT](INFO): Local bearing/azimuth received: Bearing 60.4, -14.1 (Local) 2025-09-20T19:34:32.398Z,1758396872.398 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.6 2025-09-20T19:34:32.402Z,1758396872.402 [DAT](INFO): DAT read: 19:34:34.6813 LVL= 22576, 30945, 26482, 32755, AGC= 61, IDX= 509, 0.35, 0.789,-0.704, 1.347, 0.942, PHS=-0.050,-1.601, 0.361, RAW= 161.5, 14.3, CAL= 162.1, 16.7, ROT= 347.9, -16.7 2025-09-20T19:34:32.410Z,1758396872.410 [DAT](INFO): got valid direction response: 19:34:34.6813 LVL= 22576, 30945, 26482, 32755, AGC= 61, IDX= 509, 0.35, 0.789,-0.704, 1.347, 0.942, PHS=-0.050,-1.601, 0.361, RAW= 161.5, 14.3, CAL= 162.1, 16.7, ROT= 347.9, -16.7 2025-09-20T19:34:32.415Z,1758396872.415 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-09-20T19:34:32.416Z,1758396872.416 [DAT](INFO): direction in FSK: [0.936543,-0.200777,0.287361] 2025-09-20T19:34:32.417Z,1758396872.417 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:32.426Z,1758396872.426 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.569962 2025-09-20T19:34:32.573Z,1758396872.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.508082 s, deltaX: -0.300003 m, approachRate: -0.590462 m/s, rangeRepo size: 4 2025-09-20T19:34:32.579Z,1758396872.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.960096 m, bearing: 244.494039 deg, lat: 36.779270 deg, lon: -121.859572 deg, deltaT: 0.508082 s, deltaX: -0.298697 m, approachRate: -0.587890 m/s, posRepo size: 4 2025-09-20T19:34:32.580Z,1758396872.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.96 m. 2025-09-20T19:34:32.587Z,1758396872.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.960096 m, nav range: 30.938307 m, bearing: 243.547984 deg, approach rate: 0.000000 m/s, LOS rate: -0.305746 deg/s, cmd heading: 245.505576 deg, new cmd heading: 245.207498 deg. 2025-09-20T19:34:32.588Z,1758396872.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279678 target range: 31.960096 and range: 32.10 m. 2025-09-20T19:34:32.640Z,1758396872.640 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.784371 2025-09-20T19:34:32.893Z,1758396872.893 [DAT](INFO): DAT read: Rx Time:19:34:35.1810 2025-09-20T19:34:32.893Z,1758396872.893 [DAT](INFO): Rx dataTimestamp_ set to:1758396872.892698 2025-09-20T19:34:32.894Z,1758396872.894 [DAT](INFO): DAT read: Bearing 59.5, -13.1 (Local) 2025-09-20T19:34:32.895Z,1758396872.895 [DAT](INFO): Local bearing/azimuth received: Bearing 59.5, -13.1 (Local) 2025-09-20T19:34:32.897Z,1758396872.897 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.5 2025-09-20T19:34:32.901Z,1758396872.901 [DAT](INFO): DAT read: 19:34:35.1810 LVL= 23280, 32753, 29266, 32755, AGC= 58, IDX= 506, 0.26,-1.263,-2.760,-0.740,-1.136, PHS=-0.025,-1.579, 0.353, RAW= 160.6, 14.0, CAL= 161.3, 16.2, ROT= 348.7, -16.2 2025-09-20T19:34:32.902Z,1758396872.902 [DAT](INFO): got valid direction response: 19:34:35.1810 LVL= 23280, 32753, 29266, 32755, AGC= 58, IDX= 506, 0.26,-1.263,-2.760,-0.740,-1.136, PHS=-0.025,-1.579, 0.353, RAW= 160.6, 14.0, CAL= 161.3, 16.2, ROT= 348.7, -16.2 2025-09-20T19:34:32.903Z,1758396872.903 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-09-20T19:34:32.904Z,1758396872.904 [DAT](INFO): direction in FSK: [0.941678,-0.188166,0.278991] 2025-09-20T19:34:32.904Z,1758396872.904 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:32.908Z,1758396872.908 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.052021 2025-09-20T19:34:33.016Z,1758396873.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.499680 s, deltaX: -0.399998 m, approachRate: -0.800508 m/s, rangeRepo size: 4 2025-09-20T19:34:33.018Z,1758396873.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.561842 m, bearing: 245.055648 deg, lat: 36.779271 deg, lon: -121.859572 deg, deltaT: 0.499680 s, deltaX: -0.398254 m, approachRate: -0.797019 m/s, posRepo size: 4 2025-09-20T19:34:33.031Z,1758396873.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.56 m. 2025-09-20T19:34:33.034Z,1758396873.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.561842 m, nav range: 30.582567 m, bearing: 243.751824 deg, approach rate: 0.000000 m/s, LOS rate: -0.305746 deg/s, cmd heading: 245.207507 deg, new cmd heading: 244.956379 deg. 2025-09-20T19:34:33.039Z,1758396873.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275295 target range: 31.561842 and range: 31.70 m. 2025-09-20T19:34:33.144Z,1758396873.144 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.288514 2025-09-20T19:34:33.399Z,1758396873.399 [DAT](INFO): DAT read: Rx Time:19:34:35.6809 2025-09-20T19:34:33.399Z,1758396873.399 [DAT](INFO): Rx dataTimestamp_ set to:1758396873.399034 2025-09-20T19:34:33.401Z,1758396873.401 [DAT](INFO): DAT read: Bearing 59.1, -12.6 (Local) 2025-09-20T19:34:33.401Z,1758396873.401 [DAT](INFO): Local bearing/azimuth received: Bearing 59.1, -12.6 (Local) 2025-09-20T19:34:33.403Z,1758396873.403 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.6 2025-09-20T19:34:33.418Z,1758396873.418 [DAT](INFO): DAT read: 19:34:35.6809 LVL= 20976, 30929, 27090, 32755, AGC= 58, IDX= 505, 0.19,-0.946,-2.470,-0.431,-0.825, PHS=-0.019,-1.601, 0.350, RAW= 160.3, 14.0, CAL= 160.9, 16.3, ROT= 349.1, -16.3 2025-09-20T19:34:33.419Z,1758396873.419 [DAT](INFO): got valid direction response: 19:34:35.6809 LVL= 20976, 30929, 27090, 32755, AGC= 58, IDX= 505, 0.19,-0.946,-2.470,-0.431,-0.825, PHS=-0.019,-1.601, 0.350, RAW= 160.3, 14.0, CAL= 160.9, 16.3, ROT= 349.1, -16.3 2025-09-20T19:34:33.420Z,1758396873.420 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-09-20T19:34:33.421Z,1758396873.421 [DAT](INFO): direction in FSK: [0.942489,-0.181495,0.280667] 2025-09-20T19:34:33.421Z,1758396873.421 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:33.445Z,1758396873.445 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.588915 2025-09-20T19:34:33.570Z,1758396873.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.506336 s, deltaX: -0.200001 m, approachRate: -0.394996 m/s, rangeRepo size: 4 2025-09-20T19:34:33.573Z,1758396873.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.362621 m, bearing: 244.986674 deg, lat: 36.779274 deg, lon: -121.859573 deg, deltaT: 0.506336 s, deltaX: -0.199221 m, approachRate: -0.393455 m/s, posRepo size: 4 2025-09-20T19:34:33.574Z,1758396873.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.36 m. 2025-09-20T19:34:33.585Z,1758396873.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.362621 m, nav range: 30.092468 m, bearing: 244.183096 deg, approach rate: 0.000000 m/s, LOS rate: -0.305746 deg/s, cmd heading: 244.956374 deg, new cmd heading: 244.597846 deg. 2025-09-20T19:34:33.586Z,1758396873.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269038 target range: 31.362621 and range: 31.50 m. 2025-09-20T19:34:33.649Z,1758396873.649 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.793087 2025-09-20T19:34:33.901Z,1758396873.901 [DAT](INFO): DAT read: Rx Time:19:34:36.1806 2025-09-20T19:34:33.901Z,1758396873.901 [DAT](INFO): Rx dataTimestamp_ set to:1758396873.900816 2025-09-20T19:34:33.902Z,1758396873.902 [DAT](INFO): DAT read: Bearing 58.2, -11.6 (Local) 2025-09-20T19:34:33.903Z,1758396873.903 [DAT](INFO): Local bearing/azimuth received: Bearing 58.2, -11.6 (Local) 2025-09-20T19:34:33.905Z,1758396873.905 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.6 2025-09-20T19:34:33.917Z,1758396873.917 [DAT](INFO): DAT read: 19:34:36.1806 LVL= 23424, 32753, 29026, 32755, AGC= 58, IDX= 502, 0.12,-2.052, 2.695,-1.568,-1.956, PHS= 0.006,-1.587, 0.344, RAW= 159.4, 13.8, CAL= 160.0, 15.8, ROT= 350.0, -15.8 2025-09-20T19:34:33.919Z,1758396873.919 [DAT](INFO): got valid direction response: 19:34:36.1806 LVL= 23424, 32753, 29026, 32755, AGC= 58, IDX= 502, 0.12,-2.052, 2.695,-1.568,-1.956, PHS= 0.006,-1.587, 0.344, RAW= 159.4, 13.8, CAL= 160.0, 15.8, ROT= 350.0, -15.8 2025-09-20T19:34:33.920Z,1758396873.920 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-09-20T19:34:33.921Z,1758396873.921 [DAT](INFO): direction in FSK: [0.947600,-0.167087,0.272280] 2025-09-20T19:34:33.921Z,1758396873.921 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:33.929Z,1758396873.929 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.072818 2025-09-20T19:34:33.993Z,1758396873.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.501782 s, deltaX: -0.299999 m, approachRate: -0.597868 m/s, rangeRepo size: 4 2025-09-20T19:34:34.003Z,1758396874.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.063931 m, bearing: 245.645275 deg, lat: 36.779278 deg, lon: -121.859574 deg, deltaT: 0.501782 s, deltaX: -0.298691 m, approachRate: -0.595260 m/s, posRepo size: 4 2025-09-20T19:34:34.004Z,1758396874.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.06 m. 2025-09-20T19:34:34.011Z,1758396874.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.063931 m, nav range: 29.765366 m, bearing: 244.747586 deg, approach rate: 0.000000 m/s, LOS rate: -0.305746 deg/s, cmd heading: 244.597844 deg, new cmd heading: 244.339288 deg. 2025-09-20T19:34:34.012Z,1758396874.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264525 target range: 31.063931 and range: 31.20 m. 2025-09-20T19:34:34.152Z,1758396874.152 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.296395 2025-09-20T19:34:34.353Z,1758396874.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:34.355Z,1758396874.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.06 m. 2025-09-20T19:34:34.365Z,1758396874.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.063931 m, nav range: 29.509296 m, bearing: 244.631540 deg, approach rate: -0.706719 m/s, LOS rate: -0.323052 deg/s, cmd heading: 244.339280 deg, new cmd heading: 244.105176 deg. 2025-09-20T19:34:34.370Z,1758396874.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260439 target range: 31.063931 and range: 31.20 m. 2025-09-20T19:34:34.409Z,1758396874.409 [DAT](INFO): DAT read: Rx Time:19:34:36.6805 2025-09-20T19:34:34.410Z,1758396874.410 [DAT](INFO): Rx dataTimestamp_ set to:1758396874.409512 2025-09-20T19:34:34.414Z,1758396874.414 [DAT](INFO): DAT read: Bearing 58.4, -10.9 (Local) 2025-09-20T19:34:34.416Z,1758396874.416 [DAT](INFO): Local bearing/azimuth received: Bearing 58.4, -10.9 (Local) 2025-09-20T19:34:34.423Z,1758396874.423 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.7 2025-09-20T19:34:34.428Z,1758396874.428 [DAT](INFO): DAT read: 19:34:36.6805 LVL= 23520, 31985, 29554, 32755, AGC= 57, IDX= 501, 0.05,-1.427,-2.979,-0.962,-1.326, PHS= 0.001,-1.609, 0.319, RAW= 158.9, 14.3, CAL= 159.6, 16.5, ROT= 350.4, -16.5 2025-09-20T19:34:34.429Z,1758396874.429 [DAT](INFO): got valid direction response: 19:34:36.6805 LVL= 23520, 31985, 29554, 32755, AGC= 57, IDX= 501, 0.05,-1.427,-2.979,-0.962,-1.326, PHS= 0.001,-1.609, 0.319, RAW= 158.9, 14.3, CAL= 159.6, 16.5, ROT= 350.4, -16.5 2025-09-20T19:34:34.429Z,1758396874.429 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-09-20T19:34:34.430Z,1758396874.430 [DAT](INFO): direction in FSK: [0.945392,-0.159901,0.284015] 2025-09-20T19:34:34.430Z,1758396874.430 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:34.434Z,1758396874.434 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.577931 2025-09-20T19:34:34.658Z,1758396874.658 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.801641 2025-09-20T19:34:34.856Z,1758396874.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.508696 s, deltaX: -0.100000 m, approachRate: -0.196582 m/s, rangeRepo size: 4 2025-09-20T19:34:34.858Z,1758396874.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.964331 m, bearing: 245.645190 deg, lat: 36.779278 deg, lon: -121.859575 deg, deltaT: 0.508696 s, deltaX: -0.099600 m, approachRate: -0.195794 m/s, posRepo size: 4 2025-09-20T19:34:34.858Z,1758396874.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.96 m. 2025-09-20T19:34:34.865Z,1758396874.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.964331 m, nav range: 29.315559 m, bearing: 244.611975 deg, approach rate: 0.000000 m/s, LOS rate: -0.323052 deg/s, cmd heading: 244.105169 deg, new cmd heading: 243.792369 deg. 2025-09-20T19:34:34.866Z,1758396874.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254980 target range: 30.964331 and range: 31.10 m. 2025-09-20T19:34:34.909Z,1758396874.909 [DAT](INFO): DAT read: Rx Time:19:34:37.1801 2025-09-20T19:34:34.909Z,1758396874.909 [DAT](INFO): Rx dataTimestamp_ set to:1758396874.909037 2025-09-20T19:34:34.911Z,1758396874.911 [DAT](INFO): DAT read: Bearing 58.0, -9.4 (Local) 2025-09-20T19:34:34.911Z,1758396874.911 [DAT](INFO): Local bearing/azimuth received: Bearing 58.0, -9.4 (Local) 2025-09-20T19:34:34.914Z,1758396874.914 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.7 2025-09-20T19:34:34.921Z,1758396874.921 [DAT](INFO): DAT read: 19:34:37.1801 LVL= 26736, 32753, 30322, 32755, AGC= 57, IDX= 498,-0.00, 2.688, 1.119, 3.104, 2.768, PHS= 0.022,-1.604, 0.292, RAW= 157.6, 14.4, CAL= 158.2, 16.5, ROT= 351.8, -16.5 2025-09-20T19:34:34.923Z,1758396874.923 [DAT](INFO): got valid direction response: 19:34:37.1801 LVL= 26736, 32753, 30322, 32755, AGC= 57, IDX= 498,-0.00, 2.688, 1.119, 3.104, 2.768, PHS= 0.022,-1.604, 0.292, RAW= 157.6, 14.4, CAL= 158.2, 16.5, ROT= 351.8, -16.5 2025-09-20T19:34:34.924Z,1758396874.924 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-09-20T19:34:34.925Z,1758396874.925 [DAT](INFO): direction in FSK: [0.949017,-0.136756,0.284015] 2025-09-20T19:34:34.925Z,1758396874.925 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:34.931Z,1758396874.931 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.075514 2025-09-20T19:34:35.160Z,1758396875.160 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.304258 2025-09-20T19:34:35.202Z,1758396875.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.499525 s, deltaX: -0.600000 m, approachRate: -1.201142 m/s, rangeRepo size: 4 2025-09-20T19:34:35.204Z,1758396875.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.366915 m, bearing: 246.806511 deg, lat: 36.779281 deg, lon: -121.859578 deg, deltaT: 0.499525 s, deltaX: -0.597416 m, approachRate: -1.195968 m/s, posRepo size: 4 2025-09-20T19:34:35.205Z,1758396875.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m. 2025-09-20T19:34:35.208Z,1758396875.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.366915 m, nav range: 29.117086 m, bearing: 245.249210 deg, approach rate: 0.000000 m/s, LOS rate: -0.323052 deg/s, cmd heading: 243.792374 deg, new cmd heading: 243.558058 deg. 2025-09-20T19:34:35.209Z,1758396875.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250890 target range: 30.366915 and range: 30.50 m. 2025-09-20T19:34:35.418Z,1758396875.418 [DAT](INFO): DAT read: Rx Time:19:34:37.6800 2025-09-20T19:34:35.421Z,1758396875.421 [DAT](INFO): Rx dataTimestamp_ set to:1758396875.418631 2025-09-20T19:34:35.424Z,1758396875.424 [DAT](INFO): DAT read: Bearing 57.7, -8.7 (Local) 2025-09-20T19:34:35.424Z,1758396875.424 [DAT](INFO): Local bearing/azimuth received: Bearing 57.7, -8.7 (Local) 2025-09-20T19:34:35.433Z,1758396875.432 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.6 2025-09-20T19:34:35.454Z,1758396875.454 [DAT](INFO): DAT read: 19:34:37.6800 LVL= 23664, 32209, 27682, 32755, AGC= 57, IDX= 497,-0.05, 2.943, 1.358,-2.942, 3.017, PHS= 0.028,-1.613, 0.281, RAW= 157.1, 14.5, CAL= 157.7, 16.6, ROT= 352.3, -16.6 2025-09-20T19:34:35.459Z,1758396875.459 [DAT](INFO): got valid direction response: 19:34:37.6800 LVL= 23664, 32209, 27682, 32755, AGC= 57, IDX= 497,-0.05, 2.943, 1.358,-2.942, 3.017, PHS= 0.028,-1.613, 0.281, RAW= 157.1, 14.5, CAL= 157.7, 16.6, ROT= 352.3, -16.6 2025-09-20T19:34:35.460Z,1758396875.460 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-09-20T19:34:35.461Z,1758396875.461 [DAT](INFO): direction in FSK: [0.949682,-0.128402,0.285688] 2025-09-20T19:34:35.462Z,1758396875.462 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:35.470Z,1758396875.470 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.613970 2025-09-20T19:34:35.664Z,1758396875.664 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.808333 2025-09-20T19:34:35.819Z,1758396875.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.509594 s, deltaX: -0.200001 m, approachRate: -0.392471 m/s, rangeRepo size: 4 2025-09-20T19:34:35.825Z,1758396875.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.167788 m, bearing: 247.311661 deg, lat: 36.779281 deg, lon: -121.859581 deg, deltaT: 0.509594 s, deltaX: -0.199127 m, approachRate: -0.390757 m/s, posRepo size: 4 2025-09-20T19:34:35.826Z,1758396875.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-09-20T19:34:35.834Z,1758396875.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.167788 m, nav range: 28.999123 m, bearing: 245.361834 deg, approach rate: 0.000000 m/s, LOS rate: -0.323052 deg/s, cmd heading: 243.558071 deg, new cmd heading: 243.159765 deg. 2025-09-20T19:34:35.839Z,1758396875.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243938 target range: 30.167788 and range: 30.30 m. 2025-09-20T19:34:35.917Z,1758396875.917 [DAT](INFO): DAT read: Rx Time:19:34:38.1796 2025-09-20T19:34:35.917Z,1758396875.917 [DAT](INFO): Rx dataTimestamp_ set to:1758396875.916874 2025-09-20T19:34:35.918Z,1758396875.918 [DAT](INFO): DAT read: Bearing 57.3, -7.9 (Local) 2025-09-20T19:34:35.919Z,1758396875.919 [DAT](INFO): Local bearing/azimuth received: Bearing 57.3, -7.9 (Local) 2025-09-20T19:34:35.921Z,1758396875.921 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.8 2025-09-20T19:34:35.926Z,1758396875.926 [DAT](INFO): DAT read: 19:34:38.1796 LVL= 26928, 32753, 24770, 32755, AGC= 56, IDX= 510,-0.09, 1.736, 0.175, 2.107, 1.800, PHS= 0.038,-1.581, 0.263, RAW= 156.4, 14.6, CAL= 157.0, 16.7, ROT= 353.0, -16.7 2025-09-20T19:34:35.927Z,1758396875.927 [DAT](INFO): got valid direction response: 19:34:38.1796 LVL= 26928, 32753, 24770, 32755, AGC= 56, IDX= 510,-0.09, 1.736, 0.175, 2.107, 1.800, PHS= 0.038,-1.581, 0.263, RAW= 156.4, 14.6, CAL= 157.0, 16.7, ROT= 353.0, -16.7 2025-09-20T19:34:35.927Z,1758396875.927 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-09-20T19:34:35.928Z,1758396875.928 [DAT](INFO): direction in FSK: [0.950683,-0.116729,0.287361] 2025-09-20T19:34:35.928Z,1758396875.928 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:35.932Z,1758396875.932 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.076286 2025-09-20T19:34:36.172Z,1758396876.172 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.315697 2025-09-20T19:34:36.334Z,1758396876.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.498243 s, deltaX: -0.599998 m, approachRate: -1.204229 m/s, rangeRepo size: 4 2025-09-20T19:34:36.336Z,1758396876.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.570366 m, bearing: 247.341653 deg, lat: 36.779287 deg, lon: -121.859582 deg, deltaT: 0.498243 s, deltaX: -0.597422 m, approachRate: -1.199057 m/s, posRepo size: 4 2025-09-20T19:34:36.337Z,1758396876.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.57 m. 2025-09-20T19:34:36.340Z,1758396876.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.570366 m, nav range: 28.408165 m, bearing: 246.556750 deg, approach rate: 0.000000 m/s, LOS rate: -0.323052 deg/s, cmd heading: 243.159761 deg, new cmd heading: 242.826897 deg. 2025-09-20T19:34:36.341Z,1758396876.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238129 target range: 29.570366 and range: 29.70 m. 2025-09-20T19:34:36.426Z,1758396876.426 [DAT](INFO): DAT read: Rx Time:19:34:38.6794 2025-09-20T19:34:36.428Z,1758396876.428 [DAT](INFO): Rx dataTimestamp_ set to:1758396876.427476 2025-09-20T19:34:36.435Z,1758396876.435 [DAT](INFO): DAT read: Bearing 56.8, -7.1 (Local) 2025-09-20T19:34:36.436Z,1758396876.436 [DAT](INFO): Local bearing/azimuth received: Bearing 56.8, -7.1 (Local) 2025-09-20T19:34:36.464Z,1758396876.464 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.7 2025-09-20T19:34:36.479Z,1758396876.479 [DAT](INFO): DAT read: 19:34:38.6794 LVL= 21904, 32097, 26018, 32755, AGC= 58, IDX= 508,-0.15, 1.780, 0.150, 2.137, 1.831, PHS= 0.051,-1.636, 0.262, RAW= 155.8, 14.5, CAL= 156.4, 16.6, ROT= 353.6, -16.6 2025-09-20T19:34:36.480Z,1758396876.480 [DAT](INFO): got valid direction response: 19:34:38.6794 LVL= 21904, 32097, 26018, 32755, AGC= 58, IDX= 508,-0.15, 1.780, 0.150, 2.137, 1.831, PHS= 0.051,-1.636, 0.262, RAW= 155.8, 14.5, CAL= 156.4, 16.6, ROT= 353.6, -16.6 2025-09-20T19:34:36.481Z,1758396876.481 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-09-20T19:34:36.481Z,1758396876.481 [DAT](INFO): direction in FSK: [0.952350,-0.106823,0.285688] 2025-09-20T19:34:36.482Z,1758396876.482 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:36.504Z,1758396876.504 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.648461 2025-09-20T19:34:36.672Z,1758396876.672 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.816140 2025-09-20T19:34:36.807Z,1758396876.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.510602 s, deltaX: -0.300001 m, approachRate: -0.587544 m/s, rangeRepo size: 4 2025-09-20T19:34:36.810Z,1758396876.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.271673 m, bearing: 247.697624 deg, lat: 36.779289 deg, lon: -121.859582 deg, deltaT: 0.510602 s, deltaX: -0.298693 m, approachRate: -0.584981 m/s, posRepo size: 4 2025-09-20T19:34:36.815Z,1758396876.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.27 m. 2025-09-20T19:34:36.818Z,1758396876.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.271673 m, nav range: 28.034100 m, bearing: 246.889457 deg, approach rate: 0.000000 m/s, LOS rate: -0.323052 deg/s, cmd heading: 242.826885 deg, new cmd heading: 242.524255 deg. 2025-09-20T19:34:36.823Z,1758396876.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232847 target range: 29.271673 and range: 29.40 m. 2025-09-20T19:34:36.925Z,1758396876.925 [DAT](INFO): DAT read: Rx Time:19:34:39.1791 2025-09-20T19:34:36.926Z,1758396876.926 [DAT](INFO): Rx dataTimestamp_ set to:1758396876.925964 2025-09-20T19:34:36.928Z,1758396876.928 [DAT](INFO): DAT read: Bearing 56.1, -6.4 (Local) 2025-09-20T19:34:36.929Z,1758396876.929 [DAT](INFO): Local bearing/azimuth received: Bearing 56.1, -6.4 (Local) 2025-09-20T19:34:36.932Z,1758396876.932 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.6 2025-09-20T19:34:36.937Z,1758396876.937 [DAT](INFO): DAT read: 19:34:39.1791 LVL= 24048, 29633, 27474, 32755, AGC= 56, IDX= 505,-0.19, 0.698,-0.934, 1.037, 0.733, PHS= 0.067,-1.623, 0.260, RAW= 155.4, 14.3, CAL= 155.8, 16.3, ROT= 354.2, -16.3 2025-09-20T19:34:36.938Z,1758396876.938 [DAT](INFO): got valid direction response: 19:34:39.1791 LVL= 24048, 29633, 27474, 32755, AGC= 56, IDX= 505,-0.19, 0.698,-0.934, 1.037, 0.733, PHS= 0.067,-1.623, 0.260, RAW= 155.4, 14.3, CAL= 155.8, 16.3, ROT= 354.2, -16.3 2025-09-20T19:34:36.938Z,1758396876.938 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-09-20T19:34:36.939Z,1758396876.939 [DAT](INFO): direction in FSK: [0.954892,-0.096994,0.280667] 2025-09-20T19:34:36.940Z,1758396876.940 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:36.943Z,1758396876.943 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.087258 2025-09-20T19:34:37.155Z,1758396877.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.498488 s, deltaX: -0.400000 m, approachRate: -0.802426 m/s, rangeRepo size: 4 2025-09-20T19:34:37.157Z,1758396877.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.873426 m, bearing: 248.042364 deg, lat: 36.779291 deg, lon: -121.859582 deg, deltaT: 0.498488 s, deltaX: -0.398247 m, approachRate: -0.798909 m/s, posRepo size: 4 2025-09-20T19:34:37.158Z,1758396877.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-09-20T19:34:37.165Z,1758396877.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.873426 m, nav range: 27.758142 m, bearing: 247.211974 deg, approach rate: 0.000000 m/s, LOS rate: -0.323052 deg/s, cmd heading: 242.524253 deg, new cmd heading: 242.301680 deg. 2025-09-20T19:34:37.166Z,1758396877.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228962 target range: 28.873426 and range: 29.00 m. 2025-09-20T19:34:37.176Z,1758396877.176 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.320352 2025-09-20T19:34:37.432Z,1758396877.432 [DAT](INFO): DAT read: Rx Time:19:34:39.6791 2025-09-20T19:34:37.434Z,1758396877.434 [DAT](INFO): Rx dataTimestamp_ set to:1758396877.433045 2025-09-20T19:34:37.442Z,1758396877.442 [DAT](INFO): DAT read: Bearing 55.9, -5.7 (Local) 2025-09-20T19:34:37.453Z,1758396877.453 [DAT](INFO): Local bearing/azimuth received: Bearing 55.9, -5.7 (Local) 2025-09-20T19:34:37.455Z,1758396877.455 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.6 2025-09-20T19:34:37.473Z,1758396877.473 [DAT](INFO): DAT read: 19:34:39.6791 LVL= 23232, 30577, 26050, 32755, AGC= 58, IDX= 504,-0.26, 1.998, 0.344, 2.319, 2.030, PHS= 0.070,-1.641, 0.245, RAW= 154.8, 14.6, CAL= 155.3, 16.5, ROT= 354.7, -16.5 2025-09-20T19:34:37.474Z,1758396877.474 [DAT](INFO): got valid direction response: 19:34:39.6791 LVL= 23232, 30577, 26050, 32755, AGC= 58, IDX= 504,-0.26, 1.998, 0.344, 2.319, 2.030, PHS= 0.070,-1.641, 0.245, RAW= 154.8, 14.6, CAL= 155.3, 16.5, ROT= 354.7, -16.5 2025-09-20T19:34:37.474Z,1758396877.474 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-09-20T19:34:37.491Z,1758396877.491 [DAT](INFO): direction in FSK: [0.954720,-0.088567,0.284015] 2025-09-20T19:34:37.491Z,1758396877.491 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:37.495Z,1758396877.495 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.638905 2025-09-20T19:34:37.641Z,1758396877.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.507081 s, deltaX: -0.200001 m, approachRate: -0.394416 m/s, rangeRepo size: 4 2025-09-20T19:34:37.647Z,1758396877.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.674299 m, bearing: 248.314733 deg, lat: 36.779293 deg, lon: -121.859582 deg, deltaT: 0.507081 s, deltaX: -0.199127 m, approachRate: -0.392693 m/s, posRepo size: 4 2025-09-20T19:34:37.648Z,1758396877.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m. 2025-09-20T19:34:37.650Z,1758396877.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.674299 m, nav range: 27.363806 m, bearing: 247.503993 deg, approach rate: 0.000000 m/s, LOS rate: -0.323052 deg/s, cmd heading: 242.301671 deg, new cmd heading: 241.982508 deg. 2025-09-20T19:34:37.655Z,1758396877.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223392 target range: 28.674299 and range: 28.80 m. 2025-09-20T19:34:37.680Z,1758396877.680 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.824214 2025-09-20T19:34:37.933Z,1758396877.933 [DAT](INFO): DAT read: Rx Time:19:34:40.1788 2025-09-20T19:34:37.933Z,1758396877.933 [DAT](INFO): Rx dataTimestamp_ set to:1758396877.932792 2025-09-20T19:34:37.934Z,1758396877.934 [DAT](INFO): DAT read: Bearing 55.3, -4.9 (Local) 2025-09-20T19:34:37.935Z,1758396877.935 [DAT](INFO): Local bearing/azimuth received: Bearing 55.3, -4.9 (Local) 2025-09-20T19:34:37.937Z,1758396877.937 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.6 2025-09-20T19:34:37.941Z,1758396877.941 [DAT](INFO): DAT read: 19:34:40.1788 LVL= 22624, 29281, 20754, 32755, AGC= 56, IDX= 501,-0.34, 0.861,-0.789, 1.161, 0.878, PHS= 0.084,-1.622, 0.239, RAW= 154.3, 14.4, CAL= 154.7, 16.3, ROT= 355.3, -16.3 2025-09-20T19:34:37.942Z,1758396877.942 [DAT](INFO): got valid direction response: 19:34:40.1788 LVL= 22624, 29281, 20754, 32755, AGC= 56, IDX= 501,-0.34, 0.861,-0.789, 1.161, 0.878, PHS= 0.084,-1.622, 0.239, RAW= 154.3, 14.4, CAL= 154.7, 16.3, ROT= 355.3, -16.3 2025-09-20T19:34:37.943Z,1758396877.943 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-09-20T19:34:37.944Z,1758396877.944 [DAT](INFO): direction in FSK: [0.956578,-0.078645,0.280667] 2025-09-20T19:34:37.944Z,1758396877.944 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:37.964Z,1758396877.964 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.108077 2025-09-20T19:34:38.042Z,1758396878.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.499747 s, deltaX: -0.400000 m, approachRate: -0.800404 m/s, rangeRepo size: 4 2025-09-20T19:34:38.060Z,1758396878.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.276045 m, bearing: 248.638709 deg, lat: 36.779295 deg, lon: -121.859582 deg, deltaT: 0.499747 s, deltaX: -0.398254 m, approachRate: -0.796912 m/s, posRepo size: 4 2025-09-20T19:34:38.061Z,1758396878.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m. 2025-09-20T19:34:38.068Z,1758396878.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.276045 m, nav range: 27.012850 m, bearing: 247.859232 deg, approach rate: 0.000000 m/s, LOS rate: -0.323052 deg/s, cmd heading: 241.982510 deg, new cmd heading: 241.723326 deg. 2025-09-20T19:34:38.069Z,1758396878.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218868 target range: 28.276045 and range: 28.40 m. 2025-09-20T19:34:38.185Z,1758396878.185 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.329030 2025-09-20T19:34:38.433Z,1758396878.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:38.440Z,1758396878.440 [DAT](INFO): DAT read: Rx Time:19:34:40.6787 2025-09-20T19:34:38.442Z,1758396878.442 [DAT](INFO): Rx dataTimestamp_ set to:1758396878.440855 2025-09-20T19:34:38.446Z,1758396878.446 [DAT](INFO): DAT read: Bearing 54.9, -4.1 (Local) 2025-09-20T19:34:38.447Z,1758396878.447 [DAT](INFO): Local bearing/azimuth received: Bearing 54.9, -4.1 (Local) 2025-09-20T19:34:38.461Z,1758396878.461 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.7 2025-09-20T19:34:38.488Z,1758396878.488 [DAT](INFO): DAT read: 19:34:40.6787 LVL= 24416, 30929, 25298, 32755, AGC= 56, IDX= 500,-0.50, 2.777, 1.103, 3.060, 2.787, PHS= 0.092,-1.640, 0.229, RAW= 153.8, 14.5, CAL= 154.2, 16.4, ROT= 355.8, -16.4 2025-09-20T19:34:38.489Z,1758396878.489 [DAT](INFO): got valid direction response: 19:34:40.6787 LVL= 24416, 30929, 25298, 32755, AGC= 56, IDX= 500,-0.50, 2.777, 1.103, 3.060, 2.787, PHS= 0.092,-1.640, 0.229, RAW= 153.8, 14.5, CAL= 154.2, 16.4, ROT= 355.8, -16.4 2025-09-20T19:34:38.490Z,1758396878.490 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-09-20T19:34:38.491Z,1758396878.491 [DAT](INFO): direction in FSK: [0.956738,-0.070259,0.282341] 2025-09-20T19:34:38.491Z,1758396878.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m. 2025-09-20T19:34:38.494Z,1758396878.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.276045 m, nav range: 26.736420 m, bearing: 247.772201 deg, approach rate: -0.625835 m/s, LOS rate: -0.199074 deg/s, cmd heading: 241.723318 deg, new cmd heading: 241.547457 deg. 2025-09-20T19:34:38.499Z,1758396878.499 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:38.503Z,1758396878.503 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.646724 2025-09-20T19:34:38.503Z,1758396878.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215798 target range: 28.276045 and range: 28.40 m. 2025-09-20T19:34:38.688Z,1758396878.688 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.832207 2025-09-20T19:34:38.877Z,1758396878.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.508063 s, deltaX: -0.199999 m, approachRate: -0.393650 m/s, rangeRepo size: 4 2025-09-20T19:34:38.883Z,1758396878.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.076929 m, bearing: 248.612458 deg, lat: 36.779296 deg, lon: -121.859584 deg, deltaT: 0.508063 s, deltaX: -0.199116 m, approachRate: -0.391912 m/s, posRepo size: 4 2025-09-20T19:34:38.884Z,1758396878.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.08 m. 2025-09-20T19:34:38.886Z,1758396878.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.076929 m, nav range: 26.489683 m, bearing: 248.029962 deg, approach rate: 0.000000 m/s, LOS rate: -0.199074 deg/s, cmd heading: 241.547454 deg, new cmd heading: 241.390878 deg. 2025-09-20T19:34:38.892Z,1758396878.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213066 target range: 28.076929 and range: 28.20 m. 2025-09-20T19:34:38.943Z,1758396878.943 [DAT](INFO): DAT read: Rx Time:19:34:41.1784 2025-09-20T19:34:38.944Z,1758396878.944 [DAT](INFO): Rx dataTimestamp_ set to:1758396878.943675 2025-09-20T19:34:38.945Z,1758396878.945 [DAT](INFO): DAT read: Bearing 54.1, -3.6 (Local) 2025-09-20T19:34:38.946Z,1758396878.946 [DAT](INFO): Local bearing/azimuth received: Bearing 54.1, -3.6 (Local) 2025-09-20T19:34:38.948Z,1758396878.948 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.7 2025-09-20T19:34:38.953Z,1758396878.953 [DAT](INFO): DAT read: 19:34:41.1784 LVL= 23856, 32753, 26290, 32755, AGC= 56, IDX= 496, 0.34,-2.599, 1.998,-2.325,-2.604, PHS= 0.107,-1.636, 0.236, RAW= 153.5, 14.2, CAL= 153.9, 16.0, ROT= 356.1, -16.0 2025-09-20T19:34:38.954Z,1758396878.954 [DAT](INFO): got valid direction response: 19:34:41.1784 LVL= 23856, 32753, 26290, 32755, AGC= 56, IDX= 496, 0.34,-2.599, 1.998,-2.325,-2.604, PHS= 0.107,-1.636, 0.236, RAW= 153.5, 14.2, CAL= 153.9, 16.0, ROT= 356.1, -16.0 2025-09-20T19:34:38.956Z,1758396878.956 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-09-20T19:34:38.958Z,1758396878.958 [DAT](INFO): direction in FSK: [0.959036,-0.065381,0.275637] 2025-09-20T19:34:38.958Z,1758396878.958 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:38.983Z,1758396878.983 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.127638 2025-09-20T19:34:39.196Z,1758396879.196 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.340285 2025-09-20T19:34:39.312Z,1758396879.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.502820 s, deltaX: -0.400002 m, approachRate: -0.795516 m/s, rangeRepo size: 4 2025-09-20T19:34:39.314Z,1758396879.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.678659 m, bearing: 248.624186 deg, lat: 36.779298 deg, lon: -121.859584 deg, deltaT: 0.502820 s, deltaX: -0.398270 m, approachRate: -0.792072 m/s, posRepo size: 4 2025-09-20T19:34:39.314Z,1758396879.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m. 2025-09-20T19:34:39.321Z,1758396879.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.678659 m, nav range: 26.152891 m, bearing: 248.288108 deg, approach rate: 0.000000 m/s, LOS rate: -0.199074 deg/s, cmd heading: 241.390879 deg, new cmd heading: 241.219401 deg. 2025-09-20T19:34:39.322Z,1758396879.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210073 target range: 27.678659 and range: 27.80 m. 2025-09-20T19:34:39.453Z,1758396879.453 [DAT](INFO): DAT read: Rx Time:19:34:41.6783 2025-09-20T19:34:39.457Z,1758396879.457 [DAT](INFO): Rx dataTimestamp_ set to:1758396879.453765 2025-09-20T19:34:39.461Z,1758396879.461 [DAT](INFO): DAT read: Bearing 53.4, -3.0 (Local) 2025-09-20T19:34:39.462Z,1758396879.462 [DAT](INFO): Local bearing/azimuth received: Bearing 53.4, -3.0 (Local) 2025-09-20T19:34:39.474Z,1758396879.474 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.7 2025-09-20T19:34:39.485Z,1758396879.485 [DAT](INFO): DAT read: 19:34:41.6783 LVL= 23408, 31729, 24914, 32755, AGC= 55, IDX= 511, 0.21,-0.696,-2.388,-0.435,-0.713, PHS= 0.119,-1.631, 0.233, RAW= 153.1, 14.0, CAL= 153.5, 15.8, ROT= 356.5, -15.8 2025-09-20T19:34:39.486Z,1758396879.486 [DAT](INFO): got valid direction response: 19:34:41.6783 LVL= 23408, 31729, 24914, 32755, AGC= 55, IDX= 511, 0.21,-0.696,-2.388,-0.435,-0.713, PHS= 0.119,-1.631, 0.233, RAW= 153.1, 14.0, CAL= 153.5, 15.8, ROT= 356.5, -15.8 2025-09-20T19:34:39.486Z,1758396879.486 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-09-20T19:34:39.488Z,1758396879.488 [DAT](INFO): direction in FSK: [0.960423,-0.058742,0.272280] 2025-09-20T19:34:39.488Z,1758396879.488 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:39.492Z,1758396879.492 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.635857 2025-09-20T19:34:39.700Z,1758396879.700 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.844306 2025-09-20T19:34:39.742Z,1758396879.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.510090 s, deltaX: -0.199999 m, approachRate: -0.392085 m/s, rangeRepo size: 4 2025-09-20T19:34:39.759Z,1758396879.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.479534 m, bearing: 249.015112 deg, lat: 36.779298 deg, lon: -121.859587 deg, deltaT: 0.510090 s, deltaX: -0.199125 m, approachRate: -0.390373 m/s, posRepo size: 4 2025-09-20T19:34:39.765Z,1758396879.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.48 m. 2025-09-20T19:34:39.788Z,1758396879.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.479534 m, nav range: 26.095436 m, bearing: 248.512097 deg, approach rate: 0.000000 m/s, LOS rate: -0.199074 deg/s, cmd heading: 241.219414 deg, new cmd heading: 241.049689 deg. 2025-09-20T19:34:39.790Z,1758396879.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207111 target range: 27.479534 and range: 27.60 m. 2025-09-20T19:34:39.952Z,1758396879.952 [DAT](INFO): DAT read: Rx Time:19:34:42.1780 2025-09-20T19:34:39.953Z,1758396879.953 [DAT](INFO): Rx dataTimestamp_ set to:1758396879.952678 2025-09-20T19:34:39.954Z,1758396879.954 [DAT](INFO): DAT read: Bearing 53.1, -2.3 (Local) 2025-09-20T19:34:39.955Z,1758396879.955 [DAT](INFO): Local bearing/azimuth received: Bearing 53.1, -2.3 (Local) 2025-09-20T19:34:39.957Z,1758396879.957 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.8 2025-09-20T19:34:39.961Z,1758396879.961 [DAT](INFO): DAT read: 19:34:42.1780 LVL= 23024, 30193, 23682, 32755, AGC= 56, IDX= 508, 0.12,-1.292,-2.978,-1.049,-1.313, PHS= 0.122,-1.621, 0.220, RAW= 152.7, 14.1, CAL= 153.0, 15.9, ROT= 357.0, -15.9 2025-09-20T19:34:39.962Z,1758396879.962 [DAT](INFO): got valid direction response: 19:34:42.1780 LVL= 23024, 30193, 23682, 32755, AGC= 56, IDX= 508, 0.12,-1.292,-2.978,-1.049,-1.313, PHS= 0.122,-1.621, 0.220, RAW= 152.7, 14.1, CAL= 153.0, 15.9, ROT= 357.0, -15.9 2025-09-20T19:34:39.963Z,1758396879.963 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-09-20T19:34:39.964Z,1758396879.964 [DAT](INFO): direction in FSK: [0.960423,-0.050334,0.273959] 2025-09-20T19:34:39.964Z,1758396879.964 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:39.970Z,1758396879.970 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.114388 2025-09-20T19:34:40.129Z,1758396880.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.498913 s, deltaX: -0.400000 m, approachRate: -0.801742 m/s, rangeRepo size: 4 2025-09-20T19:34:40.135Z,1758396880.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.081322 m, bearing: 248.964306 deg, lat: 36.779298 deg, lon: -121.859587 deg, deltaT: 0.498913 s, deltaX: -0.398212 m, approachRate: -0.798160 m/s, posRepo size: 4 2025-09-20T19:34:40.136Z,1758396880.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.08 m. 2025-09-20T19:34:40.143Z,1758396880.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.081322 m, nav range: 25.850019 m, bearing: 248.471515 deg, approach rate: 0.000000 m/s, LOS rate: -0.199074 deg/s, cmd heading: 241.049697 deg, new cmd heading: 240.892289 deg. 2025-09-20T19:34:40.144Z,1758396880.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204364 target range: 27.081322 and range: 27.20 m. 2025-09-20T19:34:40.207Z,1758396880.207 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.350435 2025-09-20T19:34:40.460Z,1758396880.460 [DAT](INFO): DAT read: Rx Time:19:34:42.6778 2025-09-20T19:34:40.462Z,1758396880.462 [DAT](INFO): Rx dataTimestamp_ set to:1758396880.460824 2025-09-20T19:34:40.466Z,1758396880.466 [DAT](INFO): DAT read: Bearing 52.6, -1.4 (Local) 2025-09-20T19:34:40.467Z,1758396880.467 [DAT](INFO): Local bearing/azimuth received: Bearing 52.6, -1.4 (Local) 2025-09-20T19:34:40.493Z,1758396880.493 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.6 2025-09-20T19:34:40.524Z,1758396880.524 [DAT](INFO): DAT read: 19:34:42.6778 LVL= 25584, 32113, 25842, 32755, AGC= 57, IDX= 506, 0.02,-1.330,-3.044,-1.109,-1.363, PHS= 0.135,-1.636, 0.210, RAW= 152.1, 14.2, CAL= 152.3, 15.9, ROT= 357.7, -15.9 2025-09-20T19:34:40.525Z,1758396880.525 [DAT](INFO): got valid direction response: 19:34:42.6778 LVL= 25584, 32113, 25842, 32755, AGC= 57, IDX= 506, 0.02,-1.330,-3.044,-1.109,-1.363, PHS= 0.135,-1.636, 0.210, RAW= 152.1, 14.2, CAL= 152.3, 15.9, ROT= 357.7, -15.9 2025-09-20T19:34:40.525Z,1758396880.525 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-09-20T19:34:40.526Z,1758396880.526 [DAT](INFO): direction in FSK: [0.960967,-0.038596,0.273959] 2025-09-20T19:34:40.526Z,1758396880.526 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:40.538Z,1758396880.538 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.682039 2025-09-20T19:34:40.560Z,1758396880.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.508146 s, deltaX: -0.300001 m, approachRate: -0.590384 m/s, rangeRepo size: 4 2025-09-20T19:34:40.562Z,1758396880.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.782629 m, bearing: 249.381368 deg, lat: 36.779300 deg, lon: -121.859587 deg, deltaT: 0.508146 s, deltaX: -0.298693 m, approachRate: -0.587809 m/s, posRepo size: 4 2025-09-20T19:34:40.563Z,1758396880.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m. 2025-09-20T19:34:40.570Z,1758396880.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.782629 m, nav range: 25.508802 m, bearing: 248.726233 deg, approach rate: 0.000000 m/s, LOS rate: -0.199074 deg/s, cmd heading: 240.892303 deg, new cmd heading: 240.722449 deg. 2025-09-20T19:34:40.571Z,1758396880.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201399 target range: 26.782629 and range: 26.90 m. 2025-09-20T19:34:40.687Z,1758396880.687 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:34:40.709Z,1758396880.709 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.853063 2025-09-20T19:34:40.961Z,1758396880.961 [DAT](INFO): DAT read: Rx Time:19:34:43.1775 2025-09-20T19:34:40.961Z,1758396880.961 [DAT](INFO): Rx dataTimestamp_ set to:1758396880.961164 2025-09-20T19:34:40.971Z,1758396880.971 [DAT](INFO): DAT read: Bearing 52.5, -0.4 (Local) 2025-09-20T19:34:40.974Z,1758396880.974 [DAT](INFO): Local bearing/azimuth received: Bearing 52.5, -0.4 (Local) 2025-09-20T19:34:40.988Z,1758396880.988 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.5 2025-09-20T19:34:40.999Z,1758396880.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:41.012Z,1758396881.012 [DAT](INFO): DAT read: 19:34:43.1775 LVL= 24128, 31201, 23922, 32755, AGC= 57, IDX= 503,-0.06, 2.986, 1.248,-3.105, 2.948, PHS= 0.140,-1.655, 0.186, RAW= 151.3, 14.5, CAL= 151.5, 16.2, ROT= 358.5, -16.2 2025-09-20T19:34:41.013Z,1758396881.013 [DAT](INFO): got valid direction response: 19:34:43.1775 LVL= 24128, 31201, 23922, 32755, AGC= 57, IDX= 503,-0.06, 2.986, 1.248,-3.105, 2.948, PHS= 0.140,-1.655, 0.186, RAW= 151.3, 14.5, CAL= 151.5, 16.2, ROT= 358.5, -16.2 2025-09-20T19:34:41.013Z,1758396881.013 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-09-20T19:34:41.014Z,1758396881.014 [DAT](INFO): direction in FSK: [0.959965,-0.025138,0.278991] 2025-09-20T19:34:41.014Z,1758396881.014 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:41.015Z,1758396881.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m. 2025-09-20T19:34:41.018Z,1758396881.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.782629 m, nav range: 25.222448 m, bearing: 248.636074 deg, approach rate: -0.627524 m/s, LOS rate: -0.199819 deg/s, cmd heading: 240.722449 deg, new cmd heading: 240.540085 deg. 2025-09-20T19:34:41.022Z,1758396881.022 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.166610 2025-09-20T19:34:41.023Z,1758396881.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198216 target range: 26.782629 and range: 26.90 m. 2025-09-20T19:34:41.212Z,1758396881.212 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.356355 2025-09-20T19:34:41.372Z,1758396881.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.500340 s, deltaX: -0.500000 m, approachRate: -0.999320 m/s, rangeRepo size: 4 2025-09-20T19:34:41.374Z,1758396881.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.284916 m, bearing: 249.628511 deg, lat: 36.779300 deg, lon: -121.859588 deg, deltaT: 0.500340 s, deltaX: -0.497713 m, approachRate: -0.994750 m/s, posRepo size: 4 2025-09-20T19:34:41.375Z,1758396881.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.28 m. 2025-09-20T19:34:41.381Z,1758396881.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.284916 m, nav range: 24.995476 m, bearing: 248.770834 deg, approach rate: 0.000000 m/s, LOS rate: -0.199819 deg/s, cmd heading: 240.540083 deg, new cmd heading: 240.397998 deg. 2025-09-20T19:34:41.382Z,1758396881.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195736 target range: 26.284916 and range: 26.40 m. 2025-09-20T19:34:41.470Z,1758396881.470 [DAT](INFO): DAT read: Rx Time:19:34:43.6773 2025-09-20T19:34:41.471Z,1758396881.471 [DAT](INFO): Rx dataTimestamp_ set to:1758396881.470526 2025-09-20T19:34:41.476Z,1758396881.476 [DAT](INFO): DAT read: Bearing 51.9, 0.4 (Local) 2025-09-20T19:34:41.477Z,1758396881.477 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, 0.4 (Local) 2025-09-20T19:34:41.483Z,1758396881.483 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.7 2025-09-20T19:34:41.526Z,1758396881.526 [DAT](INFO): DAT read: 19:34:43.6773 LVL= 24048, 31857, 25586, 32755, AGC= 57, IDX= 502,-0.12,-2.170, 2.370,-1.996,-2.222, PHS= 0.154,-1.646, 0.182, RAW= 150.8, 14.3, CAL= 151.0, 16.0, ROT= 359.0, -16.0 2025-09-20T19:34:41.544Z,1758396881.544 [DAT](INFO): got valid direction response: 19:34:43.6773 LVL= 24048, 31857, 25586, 32755, AGC= 57, IDX= 502,-0.12,-2.170, 2.370,-1.996,-2.222, PHS= 0.154,-1.646, 0.182, RAW= 150.8, 14.3, CAL= 151.0, 16.0, ROT= 359.0, -16.0 2025-09-20T19:34:41.545Z,1758396881.545 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-09-20T19:34:41.546Z,1758396881.546 [DAT](INFO): direction in FSK: [0.961115,-0.016777,0.275637] 2025-09-20T19:34:41.546Z,1758396881.546 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:41.570Z,1758396881.570 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.713927 2025-09-20T19:34:41.691Z,1758396881.691 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:34:41.716Z,1758396881.716 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.860250 2025-09-20T19:34:41.861Z,1758396881.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.509362 s, deltaX: -0.299999 m, approachRate: -0.588971 m/s, rangeRepo size: 4 2025-09-20T19:34:41.863Z,1758396881.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.986225 m, bearing: 249.882948 deg, lat: 36.779302 deg, lon: -121.859589 deg, deltaT: 0.509362 s, deltaX: -0.298691 m, approachRate: -0.586402 m/s, posRepo size: 4 2025-09-20T19:34:41.867Z,1758396881.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m. 2025-09-20T19:34:41.870Z,1758396881.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.986225 m, nav range: 24.644407 m, bearing: 249.188377 deg, approach rate: 0.000000 m/s, LOS rate: -0.199819 deg/s, cmd heading: 240.397988 deg, new cmd heading: 240.201008 deg. 2025-09-20T19:34:41.875Z,1758396881.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192298 target range: 25.986225 and range: 26.10 m. 2025-09-20T19:34:41.970Z,1758396881.970 [DAT](INFO): DAT read: Rx Time:19:34:44.1770 2025-09-20T19:34:41.971Z,1758396881.971 [DAT](INFO): Rx dataTimestamp_ set to:1758396881.970276 2025-09-20T19:34:41.972Z,1758396881.972 [DAT](INFO): DAT read: Bearing 51.5, 0.6 (Local) 2025-09-20T19:34:41.973Z,1758396881.973 [DAT](INFO): Local bearing/azimuth received: Bearing 51.5, 0.6 (Local) 2025-09-20T19:34:41.977Z,1758396881.977 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.7 2025-09-20T19:34:41.985Z,1758396881.985 [DAT](INFO): DAT read: 19:34:44.1770 LVL= 24560, 32401, 22962, 32755, AGC= 57, IDX= 499,-0.19,-2.618, 1.914,-2.447,-2.670, PHS= 0.154,-1.655, 0.178, RAW= 150.7, 14.4, CAL= 150.9, 16.1, ROT= 359.1, -16.1 2025-09-20T19:34:41.986Z,1758396881.986 [DAT](INFO): got valid direction response: 19:34:44.1770 LVL= 24560, 32401, 22962, 32755, AGC= 57, IDX= 499,-0.19,-2.618, 1.914,-2.447,-2.670, PHS= 0.154,-1.655, 0.178, RAW= 150.7, 14.4, CAL= 150.9, 16.1, ROT= 359.1, -16.1 2025-09-20T19:34:41.986Z,1758396881.986 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-09-20T19:34:41.993Z,1758396881.993 [DAT](INFO): direction in FSK: [0.960661,-0.015091,0.277315] 2025-09-20T19:34:41.994Z,1758396881.994 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:42.016Z,1758396882.016 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.160288 2025-09-20T19:34:42.180Z,1758396882.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.499750 s, deltaX: -0.400000 m, approachRate: -0.800399 m/s, rangeRepo size: 4 2025-09-20T19:34:42.182Z,1758396882.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.588015 m, bearing: 249.722235 deg, lat: 36.779304 deg, lon: -121.859588 deg, deltaT: 0.499750 s, deltaX: -0.398211 m, approachRate: -0.796819 m/s, posRepo size: 4 2025-09-20T19:34:42.187Z,1758396882.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.59 m. 2025-09-20T19:34:42.190Z,1758396882.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.588015 m, nav range: 24.325098 m, bearing: 249.459137 deg, approach rate: 0.000000 m/s, LOS rate: -0.199819 deg/s, cmd heading: 240.201005 deg, new cmd heading: 240.073214 deg. 2025-09-20T19:34:42.195Z,1758396882.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190068 target range: 25.588015 and range: 25.70 m. 2025-09-20T19:34:42.220Z,1758396882.220 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.364298 2025-09-20T19:34:42.473Z,1758396882.473 [DAT](INFO): DAT read: Rx Time:19:34:44.6769 2025-09-20T19:34:42.473Z,1758396882.473 [DAT](INFO): Rx dataTimestamp_ set to:1758396882.472851 2025-09-20T19:34:42.475Z,1758396882.475 [DAT](INFO): DAT read: Bearing 51.0, 1.6 (Local) 2025-09-20T19:34:42.476Z,1758396882.476 [DAT](INFO): Local bearing/azimuth received: Bearing 51.0, 1.6 (Local) 2025-09-20T19:34:42.482Z,1758396882.482 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.8 2025-09-20T19:34:42.509Z,1758396882.509 [DAT](INFO): DAT read: 19:34:44.6769 LVL= 25424, 31441, 25202, 32755, AGC= 57, IDX= 498,-0.25,-2.209, 2.307,-2.067,-2.276, PHS= 0.169,-1.655, 0.165, RAW= 149.9, 14.4, CAL= 150.0, 16.0, ROT= 360.0, -16.0 2025-09-20T19:34:42.551Z,1758396882.551 [DAT](INFO): got valid direction response: 19:34:44.6769 LVL= 25424, 31441, 25202, 32755, AGC= 57, IDX= 498,-0.25,-2.209, 2.307,-2.067,-2.276, PHS= 0.169,-1.655, 0.165, RAW= 149.9, 14.4, CAL= 150.0, 16.0, ROT= 360.0, -16.0 2025-09-20T19:34:42.552Z,1758396882.552 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-09-20T19:34:42.553Z,1758396882.553 [DAT](INFO): direction in FSK: [0.961262,0.000000,0.275637] 2025-09-20T19:34:42.553Z,1758396882.553 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:42.565Z,1758396882.565 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.709521 2025-09-20T19:34:42.695Z,1758396882.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.502575 s, deltaX: -0.200001 m, approachRate: -0.397952 m/s, rangeRepo size: 4 2025-09-20T19:34:42.705Z,1758396882.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.388885 m, bearing: 250.329348 deg, lat: 36.779305 deg, lon: -121.859589 deg, deltaT: 0.502575 s, deltaX: -0.199129 m, approachRate: -0.396218 m/s, posRepo size: 4 2025-09-20T19:34:42.706Z,1758396882.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m. 2025-09-20T19:34:42.713Z,1758396882.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.388885 m, nav range: 23.989958 m, bearing: 249.679286 deg, approach rate: 0.000000 m/s, LOS rate: -0.199819 deg/s, cmd heading: 240.073226 deg, new cmd heading: 239.867726 deg. 2025-09-20T19:34:42.714Z,1758396882.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186481 target range: 25.388885 and range: 25.50 m. 2025-09-20T19:34:42.727Z,1758396882.727 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.870591 2025-09-20T19:34:42.978Z,1758396882.978 [DAT](INFO): DAT read: Rx Time:19:34:45.1766 2025-09-20T19:34:42.979Z,1758396882.979 [DAT](INFO): Rx dataTimestamp_ set to:1758396882.978623 2025-09-20T19:34:42.981Z,1758396882.981 [DAT](INFO): DAT read: Bearing 50.7, 2.0 (Local) 2025-09-20T19:34:42.981Z,1758396882.981 [DAT](INFO): Local bearing/azimuth received: Bearing 50.7, 2.0 (Local) 2025-09-20T19:34:42.984Z,1758396882.984 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.7 2025-09-20T19:34:42.990Z,1758396882.990 [DAT](INFO): DAT read: 19:34:45.1766 LVL= 23920, 32753, 23410, 32755, AGC= 58, IDX= 511,-0.32,-2.644, 1.871,-2.508,-2.713, PHS= 0.171,-1.654, 0.161, RAW= 149.7, 14.4, CAL= 149.9, 16.0, ROT= 0.1, -16.0 2025-09-20T19:34:42.992Z,1758396882.992 [DAT](INFO): got valid direction response: 19:34:45.1766 LVL= 23920, 32753, 23410, 32755, AGC= 58, IDX= 511,-0.32,-2.644, 1.871,-2.508,-2.713, PHS= 0.171,-1.654, 0.161, RAW= 149.7, 14.4, CAL= 149.9, 16.0, ROT= 0.1, -16.0 2025-09-20T19:34:42.992Z,1758396882.992 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-09-20T19:34:42.993Z,1758396882.993 [DAT](INFO): direction in FSK: [0.961260,0.001678,0.275637] 2025-09-20T19:34:42.993Z,1758396882.993 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:42.998Z,1758396882.998 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.141890 2025-09-20T19:34:43.147Z,1758396883.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.505772 s, deltaX: -0.400000 m, approachRate: -0.790869 m/s, rangeRepo size: 4 2025-09-20T19:34:43.149Z,1758396883.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.990566 m, bearing: 249.920813 deg, lat: 36.779305 deg, lon: -121.859589 deg, deltaT: 0.505772 s, deltaX: -0.398319 m, approachRate: -0.787547 m/s, posRepo size: 4 2025-09-20T19:34:43.150Z,1758396883.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m. 2025-09-20T19:34:43.157Z,1758396883.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.990566 m, nav range: 23.684046 m, bearing: 249.674182 deg, approach rate: 0.000000 m/s, LOS rate: -0.199819 deg/s, cmd heading: 239.867720 deg, new cmd heading: 239.688406 deg. 2025-09-20T19:34:43.158Z,1758396883.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183352 target range: 24.990566 and range: 25.10 m. 2025-09-20T19:34:43.233Z,1758396883.233 [DAT](INFO): DAT read: Rx Time:19:34:45.6765 2025-09-20T19:34:43.235Z,1758396883.235 [DAT](INFO): Rx dataTimestamp_ set to:1758396883.233722 2025-09-20T19:34:43.238Z,1758396883.238 [DAT](INFO): DAT read: Bearing 50.2, 2.7 (Local) 2025-09-20T19:34:43.239Z,1758396883.239 [DAT](INFO): Local bearing/azimuth received: Bearing 50.2, 2.7 (Local) 2025-09-20T19:34:43.241Z,1758396883.241 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.384836 2025-09-20T19:34:43.488Z,1758396883.488 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.6 2025-09-20T19:34:43.544Z,1758396883.544 [DAT](INFO): DAT read: 19:34:45.6765 LVL= 24160, 30385, 22002, 32755, AGC= 57, IDX= 510,-0.36,-2.005, 2.500,-1.885,-2.085, PHS= 0.182,-1.653, 0.156, RAW= 149.3, 14.3, CAL= 149.4, 15.9, ROT= 0.6, -15.9 2025-09-20T19:34:43.545Z,1758396883.545 [DAT](INFO): got valid direction response: 19:34:45.6765 LVL= 24160, 30385, 22002, 32755, AGC= 57, IDX= 510,-0.36,-2.005, 2.500,-1.885,-2.085, PHS= 0.182,-1.653, 0.156, RAW= 149.3, 14.3, CAL= 149.4, 15.9, ROT= 0.6, -15.9 2025-09-20T19:34:43.545Z,1758396883.545 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-09-20T19:34:43.546Z,1758396883.546 [DAT](INFO): direction in FSK: [0.961689,0.010071,0.273959] 2025-09-20T19:34:43.546Z,1758396883.546 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:43.558Z,1758396883.558 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.702350 2025-09-20T19:34:43.685Z,1758396883.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.502680 s, deltaX: -0.200001 m, approachRate: -0.397869 m/s, rangeRepo size: 4 2025-09-20T19:34:43.691Z,1758396883.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.791437 m, bearing: 250.202902 deg, lat: 36.779306 deg, lon: -121.859590 deg, deltaT: 0.502680 s, deltaX: -0.199129 m, approachRate: -0.396135 m/s, posRepo size: 4 2025-09-20T19:34:43.692Z,1758396883.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.79 m. 2025-09-20T19:34:43.694Z,1758396883.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.791437 m, nav range: 23.381939 m, bearing: 249.971983 deg, approach rate: 0.000000 m/s, LOS rate: -0.199819 deg/s, cmd heading: 239.688413 deg, new cmd heading: 239.471899 deg. 2025-09-20T19:34:43.704Z,1758396883.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179573 target range: 24.791437 and range: 24.90 m. 2025-09-20T19:34:43.735Z,1758396883.735 [DAT](INFO): DAT read: Rx Time:19:34:46.1762 2025-09-20T19:34:43.737Z,1758396883.737 [DAT](INFO): Rx dataTimestamp_ set to:1758396883.736194 2025-09-20T19:34:43.741Z,1758396883.741 [DAT](INFO): DAT read: Bearing 49.6, 3.4 (Local) 2025-09-20T19:34:43.742Z,1758396883.742 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, 3.4 (Local) 2025-09-20T19:34:43.753Z,1758396883.753 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.896197 2025-09-20T19:34:43.986Z,1758396883.986 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.7 2025-09-20T19:34:43.990Z,1758396883.990 [DAT](INFO): DAT read: 19:34:46.1762 LVL= 24256, 31217, 23170, 32755, AGC= 55, IDX= 507,-0.41,-2.995, 1.484,-2.891,-3.089, PHS= 0.195,-1.665, 0.154, RAW= 148.9, 14.2, CAL= 148.9, 15.7, ROT= 1.1, -15.7 2025-09-20T19:34:43.992Z,1758396883.992 [DAT](INFO): got valid direction response: 19:34:46.1762 LVL= 24256, 31217, 23170, 32755, AGC= 55, IDX= 507,-0.41,-2.995, 1.484,-2.891,-3.089, PHS= 0.195,-1.665, 0.154, RAW= 148.9, 14.2, CAL= 148.9, 15.7, ROT= 1.1, -15.7 2025-09-20T19:34:43.992Z,1758396883.992 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-09-20T19:34:43.993Z,1758396883.993 [DAT](INFO): direction in FSK: [0.962514,0.018481,0.270600] 2025-09-20T19:34:43.993Z,1758396883.993 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:43.997Z,1758396883.997 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.140888 2025-09-20T19:34:44.092Z,1758396884.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.502149 s, deltaX: -0.299999 m, approachRate: -0.597431 m/s, rangeRepo size: 4 2025-09-20T19:34:44.104Z,1758396884.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.492746 m, bearing: 250.454175 deg, lat: 36.779307 deg, lon: -121.859590 deg, deltaT: 0.502149 s, deltaX: -0.298691 m, approachRate: -0.594825 m/s, posRepo size: 4 2025-09-20T19:34:44.105Z,1758396884.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-09-20T19:34:44.113Z,1758396884.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.492746 m, nav range: 23.130733 m, bearing: 250.140918 deg, approach rate: 0.000000 m/s, LOS rate: -0.199819 deg/s, cmd heading: 239.471896 deg, new cmd heading: 239.311520 deg. 2025-09-20T19:34:44.114Z,1758396884.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176774 target range: 24.492746 and range: 24.60 m. 2025-09-20T19:34:44.240Z,1758396884.240 [DAT](INFO): DAT read: Rx Time:19:34:46.6760 2025-09-20T19:34:44.242Z,1758396884.242 [DAT](INFO): Rx dataTimestamp_ set to:1758396884.240807 2025-09-20T19:34:44.245Z,1758396884.245 [DAT](INFO): DAT read: Bearing 49.3, 4.1 (Local) 2025-09-20T19:34:44.246Z,1758396884.246 [DAT](INFO): Local bearing/azimuth received: Bearing 49.3, 4.1 (Local) 2025-09-20T19:34:44.251Z,1758396884.251 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.7 2025-09-20T19:34:44.254Z,1758396884.254 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-09-20T19:34:44.262Z,1758396884.262 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.405853 2025-09-20T19:34:44.443Z,1758396884.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:44.445Z,1758396884.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.257355 s, deltaX: -0.300001 m, approachRate: -1.165709 m/s, rangeRepo size: 4 2025-09-20T19:34:44.446Z,1758396884.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-09-20T19:34:44.449Z,1758396884.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.492746 m, nav range: 22.875952 m, bearing: 250.102585 deg, approach rate: -0.709291 m/s, LOS rate: -0.107904 deg/s, cmd heading: 239.311524 deg, new cmd heading: 239.234004 deg. 2025-09-20T19:34:44.450Z,1758396884.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175421 target range: 24.492746 and range: 24.30 m. 2025-09-20T19:34:44.496Z,1758396884.496 [DAT](INFO): DAT read: 19:34:46.6760 LVL= 26656, 32001, 24914, 32755, AGC= 55, IDX= 505,-0.42, 2.879, 1.080, 2.968, 2.783, PHS= 0.198,-1.658, 0.141, RAW= 148.4, 14.3, CAL= 148.5, 15.8, ROT= 1.5, -15.8 2025-09-20T19:34:44.497Z,1758396884.497 [DAT](INFO): got valid direction response: 19:34:46.6760 LVL= 26656, 32001, 24914, 32755, AGC= 55, IDX= 505,-0.42, 2.879, 1.080, 2.968, 2.783, PHS= 0.198,-1.658, 0.141, RAW= 148.4, 14.3, CAL= 148.5, 15.8, ROT= 1.5, -15.8 2025-09-20T19:34:44.497Z,1758396884.497 [DAT](INFO): #Rx 31: Read direction message, but no range. 2025-09-20T19:34:44.498Z,1758396884.498 [DAT](INFO): direction in FSK: [0.961888,0.025188,0.272280] 2025-09-20T19:34:44.502Z,1758396884.502 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.645880 2025-09-20T19:34:44.743Z,1758396884.743 [DAT](INFO): DAT read: Rx Time:19:34:47.1757 2025-09-20T19:34:44.745Z,1758396884.745 [DAT](INFO): Rx dataTimestamp_ set to:1758396884.744094 2025-09-20T19:34:44.750Z,1758396884.750 [DAT](INFO): DAT read: Bearing 49.0, 5.0 (Local) 2025-09-20T19:34:44.752Z,1758396884.752 [DAT](INFO): Local bearing/azimuth received: Bearing 49.0, 5.0 (Local) 2025-09-20T19:34:44.773Z,1758396884.773 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.5 2025-09-20T19:34:44.776Z,1758396884.776 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-09-20T19:34:44.780Z,1758396884.780 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.922890 2025-09-20T19:34:44.917Z,1758396884.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503287 s, deltaX: -0.400000 m, approachRate: -0.794774 m/s, rangeRepo size: 4 2025-09-20T19:34:44.923Z,1758396884.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.795792 m, bearing: 250.353176 deg, lat: 36.779307 deg, lon: -121.859590 deg, deltaT: 0.760642 s, deltaX: -0.696955 m, approachRate: -0.916272 m/s, posRepo size: 4 2025-09-20T19:34:44.924Z,1758396884.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m. 2025-09-20T19:34:44.926Z,1758396884.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.795792 m, nav range: 22.568491 m, bearing: 250.107513 deg, approach rate: 0.000000 m/s, LOS rate: -0.107904 deg/s, cmd heading: 239.234015 deg, new cmd heading: 239.132290 deg. 2025-09-20T19:34:44.932Z,1758396884.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173646 target range: 23.795792 and range: 23.90 m. 2025-09-20T19:34:44.998Z,1758396884.998 [DAT](INFO): DAT read: 19:34:47.1757 LVL= 27408, 32753, 26386, 32755, AGC= 56, IDX= 502,-0.42, 1.401,-0.436, 1.468, 1.291, PHS= 0.211,-1.682, 0.132, RAW= 147.9, 14.3, CAL= 147.8, 15.8, ROT= 2.2, -15.8 2025-09-20T19:34:44.999Z,1758396884.999 [DAT](INFO): got valid direction response: 19:34:47.1757 LVL= 27408, 32753, 26386, 32755, AGC= 56, IDX= 502,-0.42, 1.401,-0.436, 1.468, 1.291, PHS= 0.211,-1.682, 0.132, RAW= 147.9, 14.3, CAL= 147.8, 15.8, ROT= 2.2, -15.8 2025-09-20T19:34:44.999Z,1758396884.999 [DAT](INFO): #Rx 33: Read direction message, but no range. 2025-09-20T19:34:45.000Z,1758396885.000 [DAT](INFO): direction in FSK: [0.961509,0.036937,0.272280] 2025-09-20T19:34:45.004Z,1758396885.004 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.148018 2025-09-20T19:34:45.250Z,1758396885.250 [DAT](INFO): DAT read: Rx Time:19:34:47.6756 2025-09-20T19:34:45.252Z,1758396885.252 [DAT](INFO): Rx dataTimestamp_ set to:1758396885.250955 2025-09-20T19:34:45.255Z,1758396885.255 [DAT](INFO): DAT read: Bearing 48.6, 5.5 (Local) 2025-09-20T19:34:45.257Z,1758396885.257 [DAT](INFO): Local bearing/azimuth received: Bearing 48.6, 5.5 (Local) 2025-09-20T19:34:45.262Z,1758396885.262 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.5 2025-09-20T19:34:45.277Z,1758396885.277 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-09-20T19:34:45.281Z,1758396885.281 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.424503 2025-09-20T19:34:45.374Z,1758396885.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.506861 s, deltaX: -0.199999 m, approachRate: -0.394583 m/s, rangeRepo size: 4 2025-09-20T19:34:45.378Z,1758396885.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.596741 m, bearing: 250.837906 deg, lat: 36.779308 deg, lon: -121.859591 deg, deltaT: 0.506861 s, deltaX: -0.199051 m, approachRate: -0.392713 m/s, posRepo size: 4 2025-09-20T19:34:45.378Z,1758396885.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m. 2025-09-20T19:34:45.389Z,1758396885.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.596741 m, nav range: 22.257898 m, bearing: 250.346986 deg, approach rate: 0.000000 m/s, LOS rate: -0.107904 deg/s, cmd heading: 239.132299 deg, new cmd heading: 239.033607 deg. 2025-09-20T19:34:45.390Z,1758396885.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171924 target range: 23.596741 and range: 23.70 m. 2025-09-20T19:34:45.501Z,1758396885.501 [DAT](INFO): DAT read: 19:34:47.6756 LVL= 28080, 32753, 26258, 32755, AGC= 55, IDX= 501,-0.42, 2.326, 0.491, 2.384, 2.213, PHS= 0.215,-1.677, 0.127, RAW= 147.7, 14.3, CAL= 147.6, 15.8, ROT= 2.4, -15.8 2025-09-20T19:34:45.502Z,1758396885.502 [DAT](INFO): got valid direction response: 19:34:47.6756 LVL= 28080, 32753, 26258, 32755, AGC= 55, IDX= 501,-0.42, 2.326, 0.491, 2.384, 2.213, PHS= 0.215,-1.677, 0.127, RAW= 147.7, 14.3, CAL= 147.6, 15.8, ROT= 2.4, -15.8 2025-09-20T19:34:45.502Z,1758396885.502 [DAT](INFO): #Rx 35: Read direction message, but no range. 2025-09-20T19:34:45.504Z,1758396885.504 [DAT](INFO): direction in FSK: [0.961374,0.040294,0.272280] 2025-09-20T19:34:45.540Z,1758396885.540 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.682795 2025-09-20T19:34:45.752Z,1758396885.752 [DAT](INFO): DAT read: Rx Time:19:34:48.1753 2025-09-20T19:34:45.754Z,1758396885.754 [DAT](INFO): Rx dataTimestamp_ set to:1758396885.752853 2025-09-20T19:34:45.758Z,1758396885.758 [DAT](INFO): DAT read: Bearing 48.0, 6.3 (Local) 2025-09-20T19:34:45.771Z,1758396885.771 [DAT](INFO): Local bearing/azimuth received: Bearing 48.0, 6.3 (Local) 2025-09-20T19:34:45.777Z,1758396885.777 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.5 2025-09-20T19:34:45.795Z,1758396885.795 [DAT](INFO): DAT read: 19:34:48.1753 LVL= 26144, 31937, 21282, 32755, AGC= 55, IDX= 498,-0.41, 0.935,-0.906, 0.980, 0.811, PHS= 0.226,-1.672, 0.125, RAW= 147.3, 14.2, CAL= 147.2, 15.6, ROT= 2.8, -15.6 2025-09-20T19:34:45.797Z,1758396885.797 [DAT](INFO): got valid direction response: 19:34:48.1753 LVL= 26144, 31937, 21282, 32755, AGC= 55, IDX= 498,-0.41, 0.935,-0.906, 0.980, 0.811, PHS= 0.226,-1.672, 0.125, RAW= 147.3, 14.2, CAL= 147.2, 15.6, ROT= 2.8, -15.6 2025-09-20T19:34:45.797Z,1758396885.797 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-09-20T19:34:45.823Z,1758396885.823 [DAT](INFO): direction in FSK: [0.962013,0.047050,0.268920] 2025-09-20T19:34:45.823Z,1758396885.823 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:45.827Z,1758396885.827 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.970869 2025-09-20T19:34:45.914Z,1758396885.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.501898 s, deltaX: -0.400002 m, approachRate: -0.796978 m/s, rangeRepo size: 4 2025-09-20T19:34:45.920Z,1758396885.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.198483 m, bearing: 251.225412 deg, lat: 36.779308 deg, lon: -121.859591 deg, deltaT: 0.501898 s, deltaX: -0.398258 m, approachRate: -0.793504 m/s, posRepo size: 4 2025-09-20T19:34:45.920Z,1758396885.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m. 2025-09-20T19:34:45.927Z,1758396885.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.198483 m, nav range: 21.898874 m, bearing: 250.418265 deg, approach rate: 0.000000 m/s, LOS rate: -0.107904 deg/s, cmd heading: 239.033617 deg, new cmd heading: 238.917214 deg. 2025-09-20T19:34:45.928Z,1758396885.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169892 target range: 23.198483 and range: 23.30 m. 2025-09-20T19:34:46.002Z,1758396886.002 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.146437 2025-09-20T19:34:46.256Z,1758396886.256 [DAT](INFO): DAT read: Rx Time:19:34:48.6752 2025-09-20T19:34:46.258Z,1758396886.258 [DAT](INFO): Rx dataTimestamp_ set to:1758396886.256885 2025-09-20T19:34:46.262Z,1758396886.262 [DAT](INFO): DAT read: Bearing 50.0, 11.9 (Local) 2025-09-20T19:34:46.263Z,1758396886.263 [DAT](INFO): Local bearing/azimuth received: Bearing 50.0, 11.9 (Local) 2025-09-20T19:34:46.290Z,1758396886.290 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.6 2025-09-20T19:34:46.295Z,1758396886.295 [DAT](INFO): DAT read: 19:34:48.6752 LVL= 28384, 32753, 23954, 32755, AGC= 55, IDX= 513,-0.42,-3.070, 1.360, 3.074, 3.067, PHS= 0.248,-1.663,-0.037, RAW= 142.0, 16.0, CAL= 141.3, 17.3, ROT= 8.7, -17.3 2025-09-20T19:34:46.352Z,1758396886.352 [DAT](INFO): got valid direction response: 19:34:48.6752 LVL= 28384, 32753, 23954, 32755, AGC= 55, IDX= 513,-0.42,-3.070, 1.360, 3.074, 3.067, PHS= 0.248,-1.663,-0.037, RAW= 142.0, 16.0, CAL= 141.3, 17.3, ROT= 8.7, -17.3 2025-09-20T19:34:46.352Z,1758396886.352 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-09-20T19:34:46.353Z,1758396886.353 [DAT](INFO): direction in FSK: [0.943775,0.144418,0.297375] 2025-09-20T19:34:46.353Z,1758396886.353 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:46.365Z,1758396886.365 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.509455 2025-09-20T19:34:46.396Z,1758396886.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504032 s, deltaX: -0.199999 m, approachRate: -0.396798 m/s, rangeRepo size: 4 2025-09-20T19:34:46.398Z,1758396886.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.999327 m, bearing: 256.926802 deg, lat: 36.779310 deg, lon: -121.859591 deg, deltaT: 0.504032 s, deltaX: -0.199156 m, approachRate: -0.395125 m/s, posRepo size: 4 2025-09-20T19:34:46.398Z,1758396886.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.00 m. 2025-09-20T19:34:46.406Z,1758396886.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.999327 m, nav range: 21.571894 m, bearing: 250.794928 deg, approach rate: 0.000000 m/s, LOS rate: -0.107904 deg/s, cmd heading: 238.917203 deg, new cmd heading: 238.814060 deg. 2025-09-20T19:34:46.407Z,1758396886.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168092 target range: 22.999327 and range: 23.10 m. 2025-09-20T19:34:46.505Z,1758396886.505 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.648966 2025-09-20T19:34:46.760Z,1758396886.760 [DAT](INFO): DAT read: Rx Time:19:34:49.1750 2025-09-20T19:34:46.762Z,1758396886.762 [DAT](INFO): Rx dataTimestamp_ set to:1758396886.760734 2025-09-20T19:34:46.766Z,1758396886.766 [DAT](INFO): DAT read: Bearing 47.4, 7.5 (Local) 2025-09-20T19:34:46.767Z,1758396886.767 [DAT](INFO): Local bearing/azimuth received: Bearing 47.4, 7.5 (Local) 2025-09-20T19:34:46.773Z,1758396886.773 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.7 2025-09-20T19:34:46.775Z,1758396886.775 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-09-20T19:34:46.776Z,1758396886.776 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.920677 2025-09-20T19:34:46.870Z,1758396886.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:46.885Z,1758396886.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503849 s, deltaX: -0.400000 m, approachRate: -0.793888 m/s, rangeRepo size: 4 2025-09-20T19:34:46.886Z,1758396886.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.00 m. 2025-09-20T19:34:46.897Z,1758396886.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.999327 m, nav range: 21.234558 m, bearing: 250.784190 deg, approach rate: -0.683546 m/s, LOS rate: -0.022105 deg/s, cmd heading: 238.814067 deg, new cmd heading: 238.792249 deg. 2025-09-20T19:34:46.898Z,1758396886.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167711 target range: 22.999327 and range: 22.70 m. 2025-09-20T19:34:47.018Z,1758396887.018 [DAT](INFO): DAT read: 19:34:49.1750 LVL= 27952, 32753, 24210, 32755, AGC= 55, IDX= 510,-0.46, 1.305,-0.555, 1.323, 1.168, PHS= 0.239,-1.678, 0.112, RAW= 146.6, 14.2, CAL= 146.4, 15.6, ROT= 3.6, -15.6 2025-09-20T19:34:47.019Z,1758396887.019 [DAT](INFO): got valid direction response: 19:34:49.1750 LVL= 27952, 32753, 24210, 32755, AGC= 55, IDX= 510,-0.46, 1.305,-0.555, 1.323, 1.168, PHS= 0.239,-1.678, 0.112, RAW= 146.6, 14.2, CAL= 146.4, 15.6, ROT= 3.6, -15.6 2025-09-20T19:34:47.019Z,1758396887.019 [DAT](INFO): #Rx 39: Read direction message, but no range. 2025-09-20T19:34:47.020Z,1758396887.020 [DAT](INFO): direction in FSK: [0.961262,0.060477,0.268920] 2025-09-20T19:34:47.023Z,1758396887.023 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.167681 2025-09-20T19:34:47.264Z,1758396887.264 [DAT](INFO): DAT read: Rx Time:19:34:49.6749 2025-09-20T19:34:47.266Z,1758396887.266 [DAT](INFO): Rx dataTimestamp_ set to:1758396887.264929 2025-09-20T19:34:47.270Z,1758396887.270 [DAT](INFO): DAT read: Bearing 46.6, 7.7 (Local) 2025-09-20T19:34:47.271Z,1758396887.271 [DAT](INFO): Local bearing/azimuth received: Bearing 46.6, 7.7 (Local) 2025-09-20T19:34:47.276Z,1758396887.276 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.5 2025-09-20T19:34:47.281Z,1758396887.281 [DAT](INFO): DAT read: 19:34:49.6749 LVL= 26864, 32753, 22258, 32755, AGC= 55, IDX= 508, 0.43,-1.948, 2.483,-1.927,-2.095, PHS= 0.250,-1.660, 0.124, RAW= 146.6, 13.8, CAL= 146.4, 15.2, ROT= 3.6, -15.2 2025-09-20T19:34:47.282Z,1758396887.282 [DAT](INFO): got valid direction response: 19:34:49.6749 LVL= 26864, 32753, 22258, 32755, AGC= 55, IDX= 508, 0.43,-1.948, 2.483,-1.927,-2.095, PHS= 0.250,-1.660, 0.124, RAW= 146.6, 13.8, CAL= 146.4, 15.2, ROT= 3.6, -15.2 2025-09-20T19:34:47.282Z,1758396887.282 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-09-20T19:34:47.307Z,1758396887.307 [DAT](INFO): direction in FSK: [0.963112,0.060594,0.262189] 2025-09-20T19:34:47.307Z,1758396887.307 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:47.319Z,1758396887.319 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.454962 2025-09-20T19:34:47.356Z,1758396887.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504195 s, deltaX: -0.200001 m, approachRate: -0.396673 m/s, rangeRepo size: 4 2025-09-20T19:34:47.358Z,1758396887.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.401890 m, bearing: 251.220787 deg, lat: 36.779311 deg, lon: -121.859591 deg, deltaT: 1.008044 s, deltaX: -0.597437 m, approachRate: -0.592669 m/s, posRepo size: 4 2025-09-20T19:34:47.367Z,1758396887.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m. 2025-09-20T19:34:47.370Z,1758396887.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.401890 m, nav range: 20.908218 m, bearing: 251.103023 deg, approach rate: 0.000000 m/s, LOS rate: -0.022105 deg/s, cmd heading: 238.792238 deg, new cmd heading: 238.771599 deg. 2025-09-20T19:34:47.371Z,1758396887.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167351 target range: 22.401890 and range: 22.50 m. 2025-09-20T19:34:47.512Z,1758396887.512 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.656633 2025-09-20T19:34:47.709Z,1758396887.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m. 2025-09-20T19:34:47.742Z,1758396887.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.401890 m, nav range: 20.662886 m, bearing: 251.102766 deg, approach rate: -0.685904 m/s, LOS rate: -0.000728 deg/s, cmd heading: 238.771611 deg, new cmd heading: 238.771090 deg. 2025-09-20T19:34:47.746Z,1758396887.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167342 target range: 22.401890 and range: 22.50 m. 2025-09-20T19:34:47.769Z,1758396887.769 [DAT](INFO): DAT read: Rx Time:19:34:50.1746 2025-09-20T19:34:47.770Z,1758396887.770 [DAT](INFO): Rx dataTimestamp_ set to:1758396887.769273 2025-09-20T19:34:47.775Z,1758396887.775 [DAT](INFO): DAT read: Bearing 46.2, 8.4 (Local) 2025-09-20T19:34:47.776Z,1758396887.776 [DAT](INFO): Local bearing/azimuth received: Bearing 46.2, 8.4 (Local) 2025-09-20T19:34:47.778Z,1758396887.778 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5 2025-09-20T19:34:47.797Z,1758396887.797 [DAT](INFO): DAT read: 19:34:50.1746 LVL= 26288, 32753, 22898, 32755, AGC= 55, IDX= 505, 0.35,-2.722, 1.686,-2.718,-2.882, PHS= 0.262,-1.670, 0.121, RAW= 146.2, 13.7, CAL= 146.0, 15.0, ROT= 4.0, -15.0 2025-09-20T19:34:47.807Z,1758396887.807 [DAT](INFO): got valid direction response: 19:34:50.1746 LVL= 26288, 32753, 22898, 32755, AGC= 55, IDX= 505, 0.35,-2.722, 1.686,-2.718,-2.882, PHS= 0.262,-1.670, 0.121, RAW= 146.2, 13.7, CAL= 146.0, 15.0, ROT= 4.0, -15.0 2025-09-20T19:34:47.808Z,1758396887.808 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-09-20T19:34:47.819Z,1758396887.819 [DAT](INFO): direction in FSK: [0.963573,0.067380,0.258819] 2025-09-20T19:34:47.819Z,1758396887.819 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:47.829Z,1758396887.829 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.967024 2025-09-20T19:34:48.018Z,1758396888.018 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.161669 2025-09-20T19:34:48.131Z,1758396888.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504344 s, deltaX: -0.400000 m, approachRate: -0.793109 m/s, rangeRepo size: 4 2025-09-20T19:34:48.137Z,1758396888.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.003635 m, bearing: 251.200120 deg, lat: 36.779311 deg, lon: -121.859592 deg, deltaT: 0.504344 s, deltaX: -0.398254 m, approachRate: -0.789648 m/s, posRepo size: 4 2025-09-20T19:34:48.137Z,1758396888.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m. 2025-09-20T19:34:48.140Z,1758396888.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.003635 m, nav range: 20.515793 m, bearing: 251.226234 deg, approach rate: 0.000000 m/s, LOS rate: -0.000728 deg/s, cmd heading: 238.771092 deg, new cmd heading: 238.770478 deg. 2025-09-20T19:34:48.141Z,1758396888.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167331 target range: 22.003635 and range: 22.10 m. 2025-09-20T19:34:48.273Z,1758396888.273 [DAT](INFO): DAT read: Rx Time:19:34:50.6744 2025-09-20T19:34:48.274Z,1758396888.274 [DAT](INFO): Rx dataTimestamp_ set to:1758396888.273479 2025-09-20T19:34:48.277Z,1758396888.277 [DAT](INFO): DAT read: Bearing 45.7, 8.9 (Local) 2025-09-20T19:34:48.277Z,1758396888.277 [DAT](INFO): Local bearing/azimuth received: Bearing 45.7, 8.9 (Local) 2025-09-20T19:34:48.280Z,1758396888.280 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.6 2025-09-20T19:34:48.284Z,1758396888.284 [DAT](INFO): DAT read: 19:34:50.6744 LVL= 29024, 32753, 23538, 32755, AGC= 55, IDX= 503, 0.26,-2.448, 1.967,-2.452,-2.615, PHS= 0.269,-1.657, 0.119, RAW= 146.0, 13.6, CAL= 145.7, 14.9, ROT= 4.3, -14.9 2025-09-20T19:34:48.285Z,1758396888.285 [DAT](INFO): got valid direction response: 19:34:50.6744 LVL= 29024, 32753, 23538, 32755, AGC= 55, IDX= 503, 0.26,-2.448, 1.967,-2.452,-2.615, PHS= 0.269,-1.657, 0.119, RAW= 146.0, 13.6, CAL= 145.7, 14.9, ROT= 4.3, -14.9 2025-09-20T19:34:48.286Z,1758396888.286 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-09-20T19:34:48.287Z,1758396888.287 [DAT](INFO): direction in FSK: [0.963656,0.072458,0.257133] 2025-09-20T19:34:48.287Z,1758396888.287 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:48.290Z,1758396888.290 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.434591 2025-09-20T19:34:48.520Z,1758396888.520 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.664322 2025-09-20T19:34:48.564Z,1758396888.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504206 s, deltaX: -0.300001 m, approachRate: -0.594997 m/s, rangeRepo size: 4 2025-09-20T19:34:48.569Z,1758396888.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.704918 m, bearing: 251.258453 deg, lat: 36.779311 deg, lon: -121.859594 deg, deltaT: 0.504206 s, deltaX: -0.298717 m, approachRate: -0.592451 m/s, posRepo size: 4 2025-09-20T19:34:48.576Z,1758396888.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m. 2025-09-20T19:34:48.588Z,1758396888.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.704918 m, nav range: 20.342268 m, bearing: 251.327892 deg, approach rate: 0.000000 m/s, LOS rate: -0.000728 deg/s, cmd heading: 238.770491 deg, new cmd heading: 238.769860 deg. 2025-09-20T19:34:48.593Z,1758396888.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167320 target range: 21.704918 and range: 21.80 m. 2025-09-20T19:34:48.776Z,1758396888.776 [DAT](INFO): DAT read: Rx Time:19:34:51.1741 2025-09-20T19:34:48.776Z,1758396888.776 [DAT](INFO): Rx dataTimestamp_ set to:1758396888.776181 2025-09-20T19:34:48.778Z,1758396888.778 [DAT](INFO): DAT read: Bearing 45.3, 9.3 (Local) 2025-09-20T19:34:48.779Z,1758396888.779 [DAT](INFO): Local bearing/azimuth received: Bearing 45.3, 9.3 (Local) 2025-09-20T19:34:48.781Z,1758396888.781 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.9 2025-09-20T19:34:48.788Z,1758396888.788 [DAT](INFO): DAT read: 19:34:51.1741 LVL= 25808, 31665, 20002, 32755, AGC= 56, IDX= 500, 0.16,-2.790, 1.609,-2.801,-2.964, PHS= 0.277,-1.665, 0.119, RAW= 145.8, 13.5, CAL= 145.5, 14.8, ROT= 4.5, -14.8 2025-09-20T19:34:48.789Z,1758396888.789 [DAT](INFO): got valid direction response: 19:34:51.1741 LVL= 25808, 31665, 20002, 32755, AGC= 56, IDX= 500, 0.16,-2.790, 1.609,-2.801,-2.964, PHS= 0.277,-1.665, 0.119, RAW= 145.8, 13.5, CAL= 145.5, 14.8, ROT= 4.5, -14.8 2025-09-20T19:34:48.790Z,1758396888.790 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-09-20T19:34:48.794Z,1758396888.794 [DAT](INFO): direction in FSK: [0.963843,0.075856,0.255446] 2025-09-20T19:34:48.794Z,1758396888.794 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:48.800Z,1758396888.800 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.944500 2025-09-20T19:34:48.994Z,1758396888.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.502702 s, deltaX: -0.500000 m, approachRate: -0.994625 m/s, rangeRepo size: 4 2025-09-20T19:34:49.001Z,1758396889.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.207100 m, bearing: 251.457662 deg, lat: 36.779311 deg, lon: -121.859594 deg, deltaT: 0.502702 s, deltaX: -0.497818 m, approachRate: -0.990285 m/s, posRepo size: 4 2025-09-20T19:34:49.002Z,1758396889.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m. 2025-09-20T19:34:49.009Z,1758396889.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.207100 m, nav range: 20.052931 m, bearing: 251.326755 deg, approach rate: 0.000000 m/s, LOS rate: -0.000728 deg/s, cmd heading: 238.769862 deg, new cmd heading: 238.769235 deg. 2025-09-20T19:34:49.016Z,1758396889.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167309 target range: 21.207100 and range: 21.30 m. 2025-09-20T19:34:49.024Z,1758396889.024 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.168299 2025-09-20T19:34:49.277Z,1758396889.277 [DAT](INFO): DAT read: Rx Time:19:34:51.6740 2025-09-20T19:34:49.278Z,1758396889.278 [DAT](INFO): Rx dataTimestamp_ set to:1758396889.277459 2025-09-20T19:34:49.279Z,1758396889.279 [DAT](INFO): DAT read: Bearing 45.0, 9.6 (Local) 2025-09-20T19:34:49.279Z,1758396889.279 [DAT](INFO): Local bearing/azimuth received: Bearing 45.0, 9.6 (Local) 2025-09-20T19:34:49.281Z,1758396889.281 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5 2025-09-20T19:34:49.286Z,1758396889.286 [DAT](INFO): DAT read: 19:34:51.6740 LVL= 25568, 32753, 22674, 32755, AGC= 58, IDX= 499, 0.06,-1.053,-2.925,-1.065,-1.227, PHS= 0.276,-1.653, 0.118, RAW= 145.8, 13.5, CAL= 145.5, 14.8, ROT= 4.5, -14.8 2025-09-20T19:34:49.287Z,1758396889.287 [DAT](INFO): got valid direction response: 19:34:51.6740 LVL= 25568, 32753, 22674, 32755, AGC= 58, IDX= 499, 0.06,-1.053,-2.925,-1.065,-1.227, PHS= 0.276,-1.653, 0.118, RAW= 145.8, 13.5, CAL= 145.5, 14.8, ROT= 4.5, -14.8 2025-09-20T19:34:49.288Z,1758396889.288 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-09-20T19:34:49.288Z,1758396889.288 [DAT](INFO): direction in FSK: [0.963843,0.075856,0.255446] 2025-09-20T19:34:49.289Z,1758396889.289 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:49.292Z,1758396889.292 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.436611 2025-09-20T19:34:49.392Z,1758396889.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.501278 s, deltaX: -0.099998 m, approachRate: -0.199487 m/s, rangeRepo size: 4 2025-09-20T19:34:49.394Z,1758396889.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.107504 m, bearing: 251.101162 deg, lat: 36.779310 deg, lon: -121.859593 deg, deltaT: 0.501278 s, deltaX: -0.099596 m, approachRate: -0.198684 m/s, posRepo size: 4 2025-09-20T19:34:49.395Z,1758396889.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m. 2025-09-20T19:34:49.402Z,1758396889.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.107504 m, nav range: 19.747282 m, bearing: 251.209576 deg, approach rate: 0.000000 m/s, LOS rate: -0.000728 deg/s, cmd heading: 238.769234 deg, new cmd heading: 238.768661 deg. 2025-09-20T19:34:49.402Z,1758396889.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167299 target range: 21.107504 and range: 21.20 m. 2025-09-20T19:34:49.528Z,1758396889.528 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.672434 2025-09-20T19:34:49.782Z,1758396889.782 [DAT](INFO): DAT read: Rx Time:19:34:52.1737 2025-09-20T19:34:49.782Z,1758396889.782 [DAT](INFO): Rx dataTimestamp_ set to:1758396889.781733 2025-09-20T19:34:49.784Z,1758396889.784 [DAT](INFO): DAT read: Bearing 45.0, 10.3 (Local) 2025-09-20T19:34:49.785Z,1758396889.785 [DAT](INFO): Local bearing/azimuth received: Bearing 45.0, 10.3 (Local) 2025-09-20T19:34:49.788Z,1758396889.788 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 1.0 2025-09-20T19:34:49.794Z,1758396889.794 [DAT](INFO): DAT read: 19:34:52.1737 LVL= 25312, 32753, 21538, 31667, AGC= 58, IDX= 496,-0.01, 3.031, 1.147, 3.000, 2.856, PHS= 0.278,-1.663, 0.100, RAW= 145.3, 13.7, CAL= 144.9, 15.0, ROT= 5.1, -15.0 2025-09-20T19:34:49.804Z,1758396889.804 [DAT](INFO): got valid direction response: 19:34:52.1737 LVL= 25312, 32753, 21538, 31667, AGC= 58, IDX= 496,-0.01, 3.031, 1.147, 3.000, 2.856, PHS= 0.278,-1.663, 0.100, RAW= 145.3, 13.7, CAL= 144.9, 15.0, ROT= 5.1, -15.0 2025-09-20T19:34:49.804Z,1758396889.804 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-09-20T19:34:49.806Z,1758396889.806 [DAT](INFO): direction in FSK: [0.962102,0.085865,0.258819] 2025-09-20T19:34:49.806Z,1758396889.806 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:49.828Z,1758396889.828 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.971865 2025-09-20T19:34:49.895Z,1758396889.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504274 s, deltaX: -0.500000 m, approachRate: -0.991524 m/s, rangeRepo size: 4 2025-09-20T19:34:49.897Z,1758396889.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.609686 m, bearing: 251.495618 deg, lat: 36.779310 deg, lon: -121.859593 deg, deltaT: 0.504274 s, deltaX: -0.497818 m, approachRate: -0.987197 m/s, posRepo size: 4 2025-09-20T19:34:49.898Z,1758396889.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m. 2025-09-20T19:34:49.905Z,1758396889.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.609686 m, nav range: 19.412066 m, bearing: 251.217477 deg, approach rate: 0.000000 m/s, LOS rate: -0.000728 deg/s, cmd heading: 238.768660 deg, new cmd heading: 238.767933 deg. 2025-09-20T19:34:49.906Z,1758396889.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167286 target range: 20.609686 and range: 20.70 m. 2025-09-20T19:34:50.032Z,1758396890.032 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.176497 2025-09-20T19:34:50.285Z,1758396890.285 [DAT](INFO): DAT read: Rx Time:19:34:52.6736 2025-09-20T19:34:50.285Z,1758396890.285 [DAT](INFO): Rx dataTimestamp_ set to:1758396890.284836 2025-09-20T19:34:50.286Z,1758396890.286 [DAT](INFO): DAT read: Bearing 44.6, 10.8 (Local) 2025-09-20T19:34:50.287Z,1758396890.287 [DAT](INFO): Local bearing/azimuth received: Bearing 44.6, 10.8 (Local) 2025-09-20T19:34:50.289Z,1758396890.289 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.7 2025-09-20T19:34:50.294Z,1758396890.294 [DAT](INFO): DAT read: 19:34:52.6736 LVL= 22048, 28273, 18162, 29475, AGC= 57, IDX= 511,-0.09,-2.645, 1.761,-2.684,-2.826, PHS= 0.283,-1.651, 0.099, RAW= 145.0, 13.6, CAL= 144.7, 14.9, ROT= 5.3, -14.9 2025-09-20T19:34:50.295Z,1758396890.295 [DAT](INFO): got valid direction response: 19:34:52.6736 LVL= 22048, 28273, 18162, 29475, AGC= 57, IDX= 511,-0.09,-2.645, 1.761,-2.684,-2.826, PHS= 0.283,-1.651, 0.099, RAW= 145.0, 13.6, CAL= 144.7, 14.9, ROT= 5.3, -14.9 2025-09-20T19:34:50.295Z,1758396890.295 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-09-20T19:34:50.296Z,1758396890.296 [DAT](INFO): direction in FSK: [0.962245,0.089265,0.257133] 2025-09-20T19:34:50.296Z,1758396890.296 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:50.304Z,1758396890.304 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.448130 2025-09-20T19:34:50.317Z,1758396890.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503103 s, deltaX: -0.100000 m, approachRate: -0.198767 m/s, rangeRepo size: 4 2025-09-20T19:34:50.319Z,1758396890.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.510084 m, bearing: 251.491459 deg, lat: 36.779311 deg, lon: -121.859593 deg, deltaT: 0.503103 s, deltaX: -0.099602 m, approachRate: -0.197975 m/s, posRepo size: 4 2025-09-20T19:34:50.324Z,1758396890.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m. 2025-09-20T19:34:50.326Z,1758396890.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.510084 m, nav range: 19.108776 m, bearing: 251.453997 deg, approach rate: 0.000000 m/s, LOS rate: -0.000728 deg/s, cmd heading: 238.767923 deg, new cmd heading: 238.767297 deg. 2025-09-20T19:34:50.332Z,1758396890.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167275 target range: 20.510084 and range: 20.60 m. 2025-09-20T19:34:50.537Z,1758396890.537 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.681288 2025-09-20T19:34:50.713Z,1758396890.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:50.718Z,1758396890.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m. 2025-09-20T19:34:50.749Z,1758396890.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.510084 m, nav range: 18.803625 m, bearing: 251.462897 deg, approach rate: -0.761233 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.767294 deg, new cmd heading: 238.785384 deg. 2025-09-20T19:34:50.757Z,1758396890.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167591 target range: 20.510084 and range: 20.60 m. 2025-09-20T19:34:50.790Z,1758396890.790 [DAT](INFO): DAT read: Rx Time:19:34:53.1732 2025-09-20T19:34:50.790Z,1758396890.790 [DAT](INFO): Rx dataTimestamp_ set to:1758396890.789803 2025-09-20T19:34:50.792Z,1758396890.792 [DAT](INFO): DAT read: Bearing 44.5, 11.1 (Local) 2025-09-20T19:34:50.793Z,1758396890.793 [DAT](INFO): Local bearing/azimuth received: Bearing 44.5, 11.1 (Local) 2025-09-20T19:34:50.796Z,1758396890.796 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.6 2025-09-20T19:34:50.802Z,1758396890.802 [DAT](INFO): DAT read: 19:34:53.1732 LVL= 26016, 30113, 19810, 32755, AGC= 57, IDX= 508,-0.20, 2.416, 0.537, 2.376, 2.238, PHS= 0.280,-1.656, 0.094, RAW= 145.0, 13.8, CAL= 144.6, 15.0, ROT= 5.4, -15.0 2025-09-20T19:34:50.808Z,1758396890.808 [DAT](INFO): got valid direction response: 19:34:53.1732 LVL= 26016, 30113, 19810, 32755, AGC= 57, IDX= 508,-0.20, 2.416, 0.537, 2.376, 2.238, PHS= 0.280,-1.656, 0.094, RAW= 145.0, 13.8, CAL= 144.6, 15.0, ROT= 5.4, -15.0 2025-09-20T19:34:50.808Z,1758396890.808 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-09-20T19:34:50.809Z,1758396890.809 [DAT](INFO): direction in FSK: [0.961639,0.090902,0.258819] 2025-09-20T19:34:50.810Z,1758396890.810 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:50.822Z,1758396890.822 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.965975 2025-09-20T19:34:51.044Z,1758396891.044 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.188026 2025-09-20T19:34:51.131Z,1758396891.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504967 s, deltaX: -0.600000 m, approachRate: -1.188197 m/s, rangeRepo size: 4 2025-09-20T19:34:51.133Z,1758396891.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.912703 m, bearing: 251.091370 deg, lat: 36.779311 deg, lon: -121.859593 deg, deltaT: 0.504967 s, deltaX: -0.597382 m, approachRate: -1.183011 m/s, posRepo size: 4 2025-09-20T19:34:51.133Z,1758396891.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m. 2025-09-20T19:34:51.136Z,1758396891.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.912703 m, nav range: 18.478153 m, bearing: 251.429260 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.785380 deg, new cmd heading: 238.804024 deg. 2025-09-20T19:34:51.137Z,1758396891.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167916 target range: 19.912703 and range: 20.00 m. 2025-09-20T19:34:51.293Z,1758396891.293 [DAT](INFO): DAT read: Rx Time:19:34:53.6731 2025-09-20T19:34:51.293Z,1758396891.293 [DAT](INFO): Rx dataTimestamp_ set to:1758396891.292834 2025-09-20T19:34:51.294Z,1758396891.294 [DAT](INFO): DAT read: Bearing 44.3, 11.5 (Local) 2025-09-20T19:34:51.295Z,1758396891.295 [DAT](INFO): Local bearing/azimuth received: Bearing 44.3, 11.5 (Local) 2025-09-20T19:34:51.297Z,1758396891.297 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.7 2025-09-20T19:34:51.302Z,1758396891.302 [DAT](INFO): DAT read: 19:34:53.6731 LVL= 25120, 29601, 17906, 30419, AGC= 57, IDX= 507,-0.33,-2.819, 1.586,-2.865,-2.997, PHS= 0.280,-1.655, 0.088, RAW= 144.8, 13.8, CAL= 144.5, 15.1, ROT= 5.5, -15.1 2025-09-20T19:34:51.303Z,1758396891.303 [DAT](INFO): got valid direction response: 19:34:53.6731 LVL= 25120, 29601, 17906, 30419, AGC= 57, IDX= 507,-0.33,-2.819, 1.586,-2.865,-2.997, PHS= 0.280,-1.655, 0.088, RAW= 144.8, 13.8, CAL= 144.5, 15.1, ROT= 5.5, -15.1 2025-09-20T19:34:51.303Z,1758396891.303 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-09-20T19:34:51.304Z,1758396891.304 [DAT](INFO): direction in FSK: [0.961028,0.092536,0.260505] 2025-09-20T19:34:51.305Z,1758396891.305 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:51.310Z,1758396891.310 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.454260 2025-09-20T19:34:51.532Z,1758396891.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503031 s, deltaX: -0.200001 m, approachRate: -0.397591 m/s, rangeRepo size: 4 2025-09-20T19:34:51.534Z,1758396891.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.713600 m, bearing: 251.021895 deg, lat: 36.779310 deg, lon: -121.859593 deg, deltaT: 0.503031 s, deltaX: -0.199102 m, approachRate: -0.395805 m/s, posRepo size: 4 2025-09-20T19:34:51.535Z,1758396891.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m. 2025-09-20T19:34:51.537Z,1758396891.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.713600 m, nav range: 18.281597 m, bearing: 251.144690 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.804013 deg, new cmd heading: 238.822116 deg. 2025-09-20T19:34:51.538Z,1758396891.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168232 target range: 19.713600 and range: 19.80 m. 2025-09-20T19:34:51.544Z,1758396891.544 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.688379 2025-09-20T19:34:51.797Z,1758396891.797 [DAT](INFO): DAT read: Rx Time:19:34:54.1728 2025-09-20T19:34:51.798Z,1758396891.798 [DAT](INFO): Rx dataTimestamp_ set to:1758396891.797699 2025-09-20T19:34:51.800Z,1758396891.800 [DAT](INFO): DAT read: Bearing 43.7, 11.4 (Local) 2025-09-20T19:34:51.800Z,1758396891.800 [DAT](INFO): Local bearing/azimuth received: Bearing 43.7, 11.4 (Local) 2025-09-20T19:34:51.804Z,1758396891.804 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.8 2025-09-20T19:34:51.811Z,1758396891.811 [DAT](INFO): DAT read: 19:34:54.1728 LVL= 24816, 28913, 18626, 29731, AGC= 57, IDX= 503, 0.43,-2.236, 2.169,-2.273,-2.421, PHS= 0.287,-1.648, 0.104, RAW= 145.1, 13.5, CAL= 144.7, 14.7, ROT= 5.3, -14.7 2025-09-20T19:34:51.812Z,1758396891.812 [DAT](INFO): got valid direction response: 19:34:54.1728 LVL= 24816, 28913, 18626, 29731, AGC= 57, IDX= 503, 0.43,-2.236, 2.169,-2.273,-2.421, PHS= 0.287,-1.648, 0.104, RAW= 145.1, 13.5, CAL= 144.7, 14.7, ROT= 5.3, -14.7 2025-09-20T19:34:51.814Z,1758396891.814 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-09-20T19:34:51.820Z,1758396891.820 [DAT](INFO): direction in FSK: [0.963132,0.089347,0.253758] 2025-09-20T19:34:51.820Z,1758396891.820 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:51.832Z,1758396891.832 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.976038 2025-09-20T19:34:51.996Z,1758396891.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504865 s, deltaX: -0.400000 m, approachRate: -0.792290 m/s, rangeRepo size: 4 2025-09-20T19:34:51.998Z,1758396891.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.315346 m, bearing: 250.618118 deg, lat: 36.779310 deg, lon: -121.859593 deg, deltaT: 0.504865 s, deltaX: -0.398254 m, approachRate: -0.788833 m/s, posRepo size: 4 2025-09-20T19:34:51.999Z,1758396891.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m. 2025-09-20T19:34:52.002Z,1758396892.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.315346 m, nav range: 17.931570 m, bearing: 251.096616 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.822127 deg, new cmd heading: 238.842866 deg. 2025-09-20T19:34:52.003Z,1758396892.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168594 target range: 19.315346 and range: 19.40 m. 2025-09-20T19:34:52.048Z,1758396892.048 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.192448 2025-09-20T19:34:52.301Z,1758396892.301 [DAT](INFO): DAT read: Rx Time:19:34:54.6726 2025-09-20T19:34:52.301Z,1758396892.301 [DAT](INFO): Rx dataTimestamp_ set to:1758396892.300893 2025-09-20T19:34:52.302Z,1758396892.302 [DAT](INFO): DAT read: Bearing 43.5, 11.6 (Local) 2025-09-20T19:34:52.303Z,1758396892.303 [DAT](INFO): Local bearing/azimuth received: Bearing 43.5, 11.6 (Local) 2025-09-20T19:34:52.305Z,1758396892.305 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.6 2025-09-20T19:34:52.310Z,1758396892.310 [DAT](INFO): DAT read: 19:34:54.6726 LVL= 21200, 25457, 17074, 28755, AGC= 56, IDX= 501, 0.25,-1.959, 2.451,-1.995,-2.143, PHS= 0.286,-1.645, 0.104, RAW= 145.1, 13.5, CAL= 144.7, 14.8, ROT= 5.3, -14.8 2025-09-20T19:34:52.311Z,1758396892.311 [DAT](INFO): got valid direction response: 19:34:54.6726 LVL= 21200, 25457, 17074, 28755, AGC= 56, IDX= 501, 0.25,-1.959, 2.451,-1.995,-2.143, PHS= 0.286,-1.645, 0.104, RAW= 145.1, 13.5, CAL= 144.7, 14.8, ROT= 5.3, -14.8 2025-09-20T19:34:52.311Z,1758396892.311 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-09-20T19:34:52.312Z,1758396892.312 [DAT](INFO): direction in FSK: [0.962690,0.089306,0.255446] 2025-09-20T19:34:52.312Z,1758396892.312 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:52.320Z,1758396892.320 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.464533 2025-09-20T19:34:52.387Z,1758396892.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503194 s, deltaX: -0.299999 m, approachRate: -0.596190 m/s, rangeRepo size: 4 2025-09-20T19:34:52.389Z,1758396892.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.016672 m, bearing: 250.429388 deg, lat: 36.779310 deg, lon: -121.859593 deg, deltaT: 0.503194 s, deltaX: -0.298674 m, approachRate: -0.593556 m/s, posRepo size: 4 2025-09-20T19:34:52.390Z,1758396892.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m. 2025-09-20T19:34:52.398Z,1758396892.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.016672 m, nav range: 17.692572 m, bearing: 250.968679 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.842863 deg, new cmd heading: 238.860523 deg. 2025-09-20T19:34:52.404Z,1758396892.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168902 target range: 19.016672 and range: 19.10 m. 2025-09-20T19:34:52.552Z,1758396892.552 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.696369 2025-09-20T19:34:52.806Z,1758396892.806 [DAT](INFO): DAT read: Rx Time:19:34:55.1723 2025-09-20T19:34:52.807Z,1758396892.807 [DAT](INFO): Rx dataTimestamp_ set to:1758396892.806297 2025-09-20T19:34:52.809Z,1758396892.809 [DAT](INFO): DAT read: Bearing 43.4, 11.7 (Local) 2025-09-20T19:34:52.809Z,1758396892.809 [DAT](INFO): Local bearing/azimuth received: Bearing 43.4, 11.7 (Local) 2025-09-20T19:34:52.812Z,1758396892.812 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-09-20T19:34:52.816Z,1758396892.816 [DAT](INFO): DAT read: 19:34:55.1723 LVL= 21312, 26929, 16626, 28883, AGC= 56, IDX= 498, 0.08, 2.643, 0.763, 2.606, 2.463, PHS= 0.282,-1.655, 0.099, RAW= 145.1, 13.7, CAL= 144.8, 14.9, ROT= 5.2, -14.9 2025-09-20T19:34:52.817Z,1758396892.817 [DAT](INFO): got valid direction response: 19:34:55.1723 LVL= 21312, 26929, 16626, 28883, AGC= 56, IDX= 498, 0.08, 2.643, 0.763, 2.606, 2.463, PHS= 0.282,-1.655, 0.099, RAW= 145.1, 13.7, CAL= 144.8, 14.9, ROT= 5.2, -14.9 2025-09-20T19:34:52.818Z,1758396892.818 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-09-20T19:34:52.819Z,1758396892.819 [DAT](INFO): direction in FSK: [0.962399,0.087585,0.257133] 2025-09-20T19:34:52.823Z,1758396892.823 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:52.826Z,1758396892.826 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.970697 2025-09-20T19:34:52.924Z,1758396892.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505404 s, deltaX: -0.300001 m, approachRate: -0.593587 m/s, rangeRepo size: 4 2025-09-20T19:34:52.926Z,1758396892.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.717979 m, bearing: 250.189268 deg, lat: 36.779309 deg, lon: -121.859592 deg, deltaT: 0.505404 s, deltaX: -0.298693 m, approachRate: -0.590998 m/s, posRepo size: 4 2025-09-20T19:34:52.927Z,1758396892.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-09-20T19:34:52.930Z,1758396892.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.717979 m, nav range: 17.327042 m, bearing: 250.620714 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.860513 deg, new cmd heading: 238.884728 deg. 2025-09-20T19:34:52.932Z,1758396892.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169325 target range: 18.717979 and range: 18.80 m. 2025-09-20T19:34:53.056Z,1758396893.056 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.200418 2025-09-20T19:34:53.309Z,1758396893.309 [DAT](INFO): DAT read: Rx Time:19:34:55.6722 2025-09-20T19:34:53.309Z,1758396893.309 [DAT](INFO): Rx dataTimestamp_ set to:1758396893.308844 2025-09-20T19:34:53.310Z,1758396893.310 [DAT](INFO): DAT read: Bearing 43.6, 11.9 (Local) 2025-09-20T19:34:53.311Z,1758396893.311 [DAT](INFO): Local bearing/azimuth received: Bearing 43.6, 11.9 (Local) 2025-09-20T19:34:53.313Z,1758396893.313 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.5 2025-09-20T19:34:53.318Z,1758396893.318 [DAT](INFO): DAT read: 19:34:55.6722 LVL= 22384, 28753, 17650, 31859, AGC= 56, IDX= 497,-0.05, 2.633, 0.746, 2.596, 2.461, PHS= 0.274,-1.670, 0.091, RAW= 145.1, 13.9, CAL= 144.8, 15.2, ROT= 5.2, -15.2 2025-09-20T19:34:53.319Z,1758396893.319 [DAT](INFO): got valid direction response: 19:34:55.6722 LVL= 22384, 28753, 17650, 31859, AGC= 56, IDX= 497,-0.05, 2.633, 0.746, 2.596, 2.461, PHS= 0.274,-1.670, 0.091, RAW= 145.1, 13.9, CAL= 144.8, 15.2, ROT= 5.2, -15.2 2025-09-20T19:34:53.319Z,1758396893.319 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-09-20T19:34:53.320Z,1758396893.320 [DAT](INFO): direction in FSK: [0.961045,0.087462,0.262189] 2025-09-20T19:34:53.320Z,1758396893.320 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:53.328Z,1758396893.328 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.472643 2025-09-20T19:34:53.332Z,1758396893.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.502547 s, deltaX: -0.199999 m, approachRate: -0.397970 m/s, rangeRepo size: 4 2025-09-20T19:34:53.334Z,1758396893.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.518887 m, bearing: 250.051765 deg, lat: 36.779308 deg, lon: -121.859592 deg, deltaT: 0.502547 s, deltaX: -0.199093 m, approachRate: -0.396168 m/s, posRepo size: 4 2025-09-20T19:34:53.335Z,1758396893.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.52 m. 2025-09-20T19:34:53.354Z,1758396893.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.518887 m, nav range: 17.047888 m, bearing: 250.507831 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.884719 deg, new cmd heading: 238.903334 deg. 2025-09-20T19:34:53.355Z,1758396893.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169650 target range: 18.518887 and range: 18.60 m. 2025-09-20T19:34:53.562Z,1758396893.562 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.706251 2025-09-20T19:34:53.813Z,1758396893.813 [DAT](INFO): DAT read: Rx Time:19:34:56.1717 2025-09-20T19:34:53.813Z,1758396893.813 [DAT](INFO): Rx dataTimestamp_ set to:1758396893.812858 2025-09-20T19:34:53.814Z,1758396893.814 [DAT](INFO): DAT read: Bearing 43.5, 12.1 (Local) 2025-09-20T19:34:53.815Z,1758396893.815 [DAT](INFO): Local bearing/azimuth received: Bearing 43.5, 12.1 (Local) 2025-09-20T19:34:53.822Z,1758396893.822 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.5 2025-09-20T19:34:53.827Z,1758396893.827 [DAT](INFO): DAT read: 19:34:56.1717 LVL= 27504, 32753, 21858, 32755, AGC= 57, IDX= 510,-0.18, 1.035,-0.875, 0.993, 0.863, PHS= 0.274,-1.693, 0.087, RAW= 145.0, 14.1, CAL= 144.7, 15.3, ROT= 5.3, -15.3 2025-09-20T19:34:53.828Z,1758396893.828 [DAT](INFO): got valid direction response: 19:34:56.1717 LVL= 27504, 32753, 21858, 32755, AGC= 57, IDX= 510,-0.18, 1.035,-0.875, 0.993, 0.863, PHS= 0.274,-1.693, 0.087, RAW= 145.0, 14.1, CAL= 144.7, 15.3, ROT= 5.3, -15.3 2025-09-20T19:34:53.828Z,1758396893.828 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-09-20T19:34:53.829Z,1758396893.829 [DAT](INFO): direction in FSK: [0.960434,0.089097,0.263873] 2025-09-20T19:34:53.829Z,1758396893.829 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:53.857Z,1758396893.857 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.001329 2025-09-20T19:34:53.962Z,1758396893.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504014 s, deltaX: -0.700001 m, approachRate: -1.388852 m/s, rangeRepo size: 4 2025-09-20T19:34:53.969Z,1758396893.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.821939 m, bearing: 249.825731 deg, lat: 36.779308 deg, lon: -121.859592 deg, deltaT: 0.504014 s, deltaX: -0.696947 m, approachRate: -1.382793 m/s, posRepo size: 4 2025-09-20T19:34:53.969Z,1758396893.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.82 m. 2025-09-20T19:34:53.976Z,1758396893.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.821939 m, nav range: 16.631792 m, bearing: 250.194610 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.903324 deg, new cmd heading: 238.931773 deg. 2025-09-20T19:34:53.977Z,1758396893.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170146 target range: 17.821939 and range: 17.90 m. 2025-09-20T19:34:54.065Z,1758396894.065 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.209347 2025-09-20T19:34:54.317Z,1758396894.317 [DAT](INFO): DAT read: Rx Time:19:34:56.6716 2025-09-20T19:34:54.317Z,1758396894.317 [DAT](INFO): Rx dataTimestamp_ set to:1758396894.317052 2025-09-20T19:34:54.319Z,1758396894.319 [DAT](INFO): DAT read: Bearing 43.4, 12.2 (Local) 2025-09-20T19:34:54.319Z,1758396894.319 [DAT](INFO): Local bearing/azimuth received: Bearing 43.4, 12.2 (Local) 2025-09-20T19:34:54.322Z,1758396894.322 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.7 2025-09-20T19:34:54.328Z,1758396894.328 [DAT](INFO): DAT read: 19:34:56.6716 LVL= 26144, 32753, 22322, 32755, AGC= 57, IDX= 509,-0.34, 2.567, 0.653, 2.529, 2.395, PHS= 0.274,-1.697, 0.090, RAW= 145.2, 14.0, CAL= 144.8, 15.3, ROT= 5.2, -15.3 2025-09-20T19:34:54.329Z,1758396894.329 [DAT](INFO): got valid direction response: 19:34:56.6716 LVL= 26144, 32753, 22322, 32755, AGC= 57, IDX= 509,-0.34, 2.567, 0.653, 2.529, 2.395, PHS= 0.274,-1.697, 0.090, RAW= 145.2, 14.0, CAL= 144.8, 15.3, ROT= 5.2, -15.3 2025-09-20T19:34:54.329Z,1758396894.329 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-09-20T19:34:54.330Z,1758396894.330 [DAT](INFO): direction in FSK: [0.960588,0.087420,0.263873] 2025-09-20T19:34:54.330Z,1758396894.330 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:54.388Z,1758396894.388 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.532282 2025-09-20T19:34:54.484Z,1758396894.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504194 s, deltaX: -0.199999 m, approachRate: -0.396670 m/s, rangeRepo size: 4 2025-09-20T19:34:54.486Z,1758396894.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.622831 m, bearing: 249.592997 deg, lat: 36.779307 deg, lon: -121.859591 deg, deltaT: 0.504194 s, deltaX: -0.199108 m, approachRate: -0.394904 m/s, posRepo size: 4 2025-09-20T19:34:54.486Z,1758396894.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.62 m. 2025-09-20T19:34:54.493Z,1758396894.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.622831 m, nav range: 16.248081 m, bearing: 250.081249 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.931765 deg, new cmd heading: 238.955101 deg. 2025-09-20T19:34:54.494Z,1758396894.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170553 target range: 17.622831 and range: 17.70 m. 2025-09-20T19:34:54.569Z,1758396894.569 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.713316 2025-09-20T19:34:54.824Z,1758396894.824 [DAT](INFO): DAT read: Rx Time:19:34:57.1713 2025-09-20T19:34:54.825Z,1758396894.825 [DAT](INFO): Rx dataTimestamp_ set to:1758396894.824240 2025-09-20T19:34:54.826Z,1758396894.826 [DAT](INFO): DAT read: Bearing 43.3, 12.2 (Local) 2025-09-20T19:34:54.826Z,1758396894.826 [DAT](INFO): Local bearing/azimuth received: Bearing 43.3, 12.2 (Local) 2025-09-20T19:34:54.828Z,1758396894.828 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.7 2025-09-20T19:34:54.833Z,1758396894.833 [DAT](INFO): DAT read: 19:34:57.1713 LVL= 28352, 32753, 23730, 32755, AGC= 57, IDX= 506,-0.44, 1.337,-0.578, 1.304, 1.169, PHS= 0.270,-1.702, 0.091, RAW= 145.3, 14.1, CAL= 145.0, 15.4, ROT= 5.0, -15.4 2025-09-20T19:34:54.835Z,1758396894.835 [DAT](INFO): got valid direction response: 19:34:57.1713 LVL= 28352, 32753, 23730, 32755, AGC= 57, IDX= 506,-0.44, 1.337,-0.578, 1.304, 1.169, PHS= 0.270,-1.702, 0.091, RAW= 145.3, 14.1, CAL= 145.0, 15.4, ROT= 5.0, -15.4 2025-09-20T19:34:54.836Z,1758396894.836 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-09-20T19:34:54.837Z,1758396894.837 [DAT](INFO): direction in FSK: [0.960427,0.084026,0.265556] 2025-09-20T19:34:54.838Z,1758396894.838 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:54.866Z,1758396894.866 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.010641 2025-09-20T19:34:55.037Z,1758396895.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.507188 s, deltaX: -0.400002 m, approachRate: -0.788665 m/s, rangeRepo size: 4 2025-09-20T19:34:55.040Z,1758396895.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.224573 m, bearing: 249.282157 deg, lat: 36.779307 deg, lon: -121.859590 deg, deltaT: 0.507188 s, deltaX: -0.398258 m, approachRate: -0.785228 m/s, posRepo size: 4 2025-09-20T19:34:55.040Z,1758396895.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.22 m. 2025-09-20T19:34:55.047Z,1758396895.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.224573 m, nav range: 15.815646 m, bearing: 249.898612 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.955097 deg, new cmd heading: 238.980281 deg. 2025-09-20T19:34:55.048Z,1758396895.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170993 target range: 17.224573 and range: 17.30 m. 2025-09-20T19:34:55.073Z,1758396895.073 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.217516 2025-09-20T19:34:55.325Z,1758396895.325 [DAT](INFO): DAT read: Rx Time:19:34:57.6712 2025-09-20T19:34:55.326Z,1758396895.326 [DAT](INFO): Rx dataTimestamp_ set to:1758396895.325301 2025-09-20T19:34:55.328Z,1758396895.328 [DAT](INFO): DAT read: Bearing 43.1, 12.2 (Local) 2025-09-20T19:34:55.328Z,1758396895.328 [DAT](INFO): Local bearing/azimuth received: Bearing 43.1, 12.2 (Local) 2025-09-20T19:34:55.331Z,1758396895.331 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.6 2025-09-20T19:34:55.336Z,1758396895.336 [DAT](INFO): DAT read: 19:34:57.6712 LVL= 31216, 32753, 23762, 32755, AGC= 56, IDX= 504, 0.49, 2.607, 0.697, 2.581, 2.442, PHS= 0.267,-1.700, 0.096, RAW= 145.5, 14.1, CAL= 145.2, 15.4, ROT= 4.8, -15.4 2025-09-20T19:34:55.337Z,1758396895.337 [DAT](INFO): got valid direction response: 19:34:57.6712 LVL= 31216, 32753, 23762, 32755, AGC= 56, IDX= 504, 0.49, 2.607, 0.697, 2.581, 2.442, PHS= 0.267,-1.700, 0.096, RAW= 145.5, 14.1, CAL= 145.2, 15.4, ROT= 4.8, -15.4 2025-09-20T19:34:55.337Z,1758396895.337 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-09-20T19:34:55.338Z,1758396895.338 [DAT](INFO): direction in FSK: [0.960714,0.080673,0.265556] 2025-09-20T19:34:55.339Z,1758396895.339 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:55.343Z,1758396895.343 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.486790 2025-09-20T19:34:55.468Z,1758396895.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.501061 s, deltaX: -0.199999 m, approachRate: -0.399151 m/s, rangeRepo size: 4 2025-09-20T19:34:55.470Z,1758396895.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.025446 m, bearing: 248.974445 deg, lat: 36.779306 deg, lon: -121.859590 deg, deltaT: 0.501061 s, deltaX: -0.199127 m, approachRate: -0.397411 m/s, posRepo size: 4 2025-09-20T19:34:55.475Z,1758396895.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.03 m. 2025-09-20T19:34:55.478Z,1758396895.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.025446 m, nav range: 15.537962 m, bearing: 249.601364 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.980287 deg, new cmd heading: 238.999740 deg. 2025-09-20T19:34:55.483Z,1758396895.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171332 target range: 17.025446 and range: 17.10 m. 2025-09-20T19:34:55.577Z,1758396895.577 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.721195 2025-09-20T19:34:55.829Z,1758396895.829 [DAT](INFO): DAT read: Rx Time:19:34:58.1709 2025-09-20T19:34:55.829Z,1758396895.829 [DAT](INFO): Rx dataTimestamp_ set to:1758396895.828776 2025-09-20T19:34:55.830Z,1758396895.830 [DAT](INFO): DAT read: Bearing 43.0, 12.4 (Local) 2025-09-20T19:34:55.831Z,1758396895.831 [DAT](INFO): Local bearing/azimuth received: Bearing 43.0, 12.4 (Local) 2025-09-20T19:34:55.833Z,1758396895.833 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.5 2025-09-20T19:34:55.842Z,1758396895.842 [DAT](INFO): DAT read: 19:34:58.1709 LVL= 31648, 32753, 23570, 32755, AGC= 56, IDX= 501, 0.49, 0.452,-1.469, 0.426, 0.283, PHS= 0.270,-1.707, 0.099, RAW= 145.5, 14.0, CAL= 145.2, 15.3, ROT= 4.8, -15.3 2025-09-20T19:34:55.843Z,1758396895.843 [DAT](INFO): got valid direction response: 19:34:58.1709 LVL= 31648, 32753, 23570, 32755, AGC= 56, IDX= 501, 0.49, 0.452,-1.469, 0.426, 0.283, PHS= 0.270,-1.707, 0.099, RAW= 145.5, 14.0, CAL= 145.2, 15.3, ROT= 4.8, -15.3 2025-09-20T19:34:55.843Z,1758396895.843 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-09-20T19:34:55.844Z,1758396895.844 [DAT](INFO): direction in FSK: [0.961175,0.080712,0.263873] 2025-09-20T19:34:55.844Z,1758396895.844 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:55.868Z,1758396895.868 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.012066 2025-09-20T19:34:55.919Z,1758396895.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503475 s, deltaX: -0.400000 m, approachRate: -0.794478 m/s, rangeRepo size: 4 2025-09-20T19:34:55.921Z,1758396895.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.627192 m, bearing: 248.898751 deg, lat: 36.779306 deg, lon: -121.859590 deg, deltaT: 0.503475 s, deltaX: -0.398254 m, approachRate: -0.791011 m/s, posRepo size: 4 2025-09-20T19:34:55.922Z,1758396895.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m. 2025-09-20T19:34:55.933Z,1758396895.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.627192 m, nav range: 15.234879 m, bearing: 249.308475 deg, approach rate: 0.000000 m/s, LOS rate: 0.022564 deg/s, cmd heading: 238.999739 deg, new cmd heading: 239.019895 deg. 2025-09-20T19:34:55.934Z,1758396895.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171684 target range: 16.627192 and range: 16.70 m. 2025-09-20T19:34:56.082Z,1758396896.082 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.225719 2025-09-20T19:34:56.324Z,1758396896.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:34:56.326Z,1758396896.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m. 2025-09-20T19:34:56.333Z,1758396896.333 [DAT](INFO): DAT read: Rx Time:19:34:58.6708 2025-09-20T19:34:56.333Z,1758396896.333 [DAT](INFO): Rx dataTimestamp_ set to:1758396896.332803 2025-09-20T19:34:56.334Z,1758396896.334 [DAT](INFO): DAT read: Bearing 43.2, 12.3 (Local) 2025-09-20T19:34:56.335Z,1758396896.335 [DAT](INFO): Local bearing/azimuth received: Bearing 43.2, 12.3 (Local) 2025-09-20T19:34:56.337Z,1758396896.337 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.7 2025-09-20T19:34:56.342Z,1758396896.342 [DAT](INFO): DAT read: 19:34:58.6708 LVL= 31776, 32753, 22322, 32755, AGC= 55, IDX= 501,-0.49,-0.530,-2.431,-0.545,-0.684, PHS= 0.256,-1.702, 0.095, RAW= 145.7, 14.2, CAL= 145.5, 15.6, ROT= 4.5, -15.6 2025-09-20T19:34:56.343Z,1758396896.343 [DAT](INFO): got valid direction response: 19:34:58.6708 LVL= 31776, 32753, 22322, 32755, AGC= 55, IDX= 501,-0.49,-0.530,-2.431,-0.545,-0.684, PHS= 0.256,-1.702, 0.095, RAW= 145.7, 14.2, CAL= 145.5, 15.6, ROT= 4.5, -15.6 2025-09-20T19:34:56.343Z,1758396896.343 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-09-20T19:34:56.344Z,1758396896.344 [DAT](INFO): direction in FSK: [0.960193,0.075569,0.268920] 2025-09-20T19:34:56.344Z,1758396896.344 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:56.349Z,1758396896.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.627192 m, nav range: 14.963762 m, bearing: 249.321393 deg, approach rate: -0.658603 m/s, LOS rate: 0.031949 deg/s, cmd heading: 239.019902 deg, new cmd heading: 239.046206 deg. 2025-09-20T19:34:56.350Z,1758396896.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172143 target range: 16.627192 and range: 16.70 m. 2025-09-20T19:34:56.352Z,1758396896.352 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.496086 2025-09-20T19:34:56.585Z,1758396896.585 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.728842 2025-09-20T19:34:56.683Z,1758396896.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504027 s, deltaX: -0.200001 m, approachRate: -0.396806 m/s, rangeRepo size: 4 2025-09-20T19:34:56.690Z,1758396896.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.428066 m, bearing: 248.598697 deg, lat: 36.779305 deg, lon: -121.859590 deg, deltaT: 0.504027 s, deltaX: -0.199125 m, approachRate: -0.395069 m/s, posRepo size: 4 2025-09-20T19:34:56.692Z,1758396896.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.43 m. 2025-09-20T19:34:56.724Z,1758396896.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.428066 m, nav range: 14.812985 m, bearing: 249.027055 deg, approach rate: 0.000000 m/s, LOS rate: 0.031949 deg/s, cmd heading: 239.046212 deg, new cmd heading: 239.068988 deg. 2025-09-20T19:34:56.734Z,1758396896.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172541 target range: 16.428066 and range: 16.50 m. 2025-09-20T19:34:56.838Z,1758396896.838 [DAT](INFO): DAT read: Rx Time:19:34:59.1706 2025-09-20T19:34:56.839Z,1758396896.839 [DAT](INFO): Rx dataTimestamp_ set to:1758396896.837987 2025-09-20T19:34:56.841Z,1758396896.841 [DAT](INFO): DAT read: Bearing 43.2, 12.1 (Local) 2025-09-20T19:34:56.841Z,1758396896.841 [DAT](INFO): Local bearing/azimuth received: Bearing 43.2, 12.1 (Local) 2025-09-20T19:34:56.844Z,1758396896.844 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.5 2025-09-20T19:34:56.849Z,1758396896.849 [DAT](INFO): DAT read: 19:34:59.1706 LVL= 30128, 31969, 20802, 32755, AGC= 54, IDX= 498,-0.45,-2.084, 2.307,-2.088,-2.229, PHS= 0.246,-1.703, 0.097, RAW= 146.0, 14.4, CAL= 145.8, 15.7, ROT= 4.2, -15.7 2025-09-20T19:34:56.850Z,1758396896.850 [DAT](INFO): got valid direction response: 19:34:59.1706 LVL= 30128, 31969, 20802, 32755, AGC= 54, IDX= 498,-0.45,-2.084, 2.307,-2.088,-2.229, PHS= 0.246,-1.703, 0.097, RAW= 146.0, 14.4, CAL= 145.8, 15.7, ROT= 4.2, -15.7 2025-09-20T19:34:56.850Z,1758396896.850 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-09-20T19:34:56.860Z,1758396896.860 [DAT](INFO): direction in FSK: [0.960106,0.070506,0.270600] 2025-09-20T19:34:56.861Z,1758396896.861 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:56.877Z,1758396896.877 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.020910 2025-09-20T19:34:57.088Z,1758396897.088 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.232290 2025-09-20T19:34:57.144Z,1758396897.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.505184 s, deltaX: -0.400000 m, approachRate: -0.791790 m/s, rangeRepo size: 4 2025-09-20T19:34:57.146Z,1758396897.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.029810 m, bearing: 248.239340 deg, lat: 36.779305 deg, lon: -121.859590 deg, deltaT: 0.505184 s, deltaX: -0.398256 m, approachRate: -0.788339 m/s, posRepo size: 4 2025-09-20T19:34:57.151Z,1758396897.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.03 m. 2025-09-20T19:34:57.154Z,1758396897.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.029810 m, nav range: 14.505654 m, bearing: 248.958266 deg, approach rate: 0.000000 m/s, LOS rate: 0.031949 deg/s, cmd heading: 239.068997 deg, new cmd heading: 239.098461 deg. 2025-09-20T19:34:57.159Z,1758396897.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173055 target range: 16.029810 and range: 16.10 m. 2025-09-20T19:34:57.341Z,1758396897.341 [DAT](INFO): DAT read: Rx Time:19:34:59.6705 2025-09-20T19:34:57.341Z,1758396897.341 [DAT](INFO): Rx dataTimestamp_ set to:1758396897.340798 2025-09-20T19:34:57.342Z,1758396897.342 [DAT](INFO): DAT read: Bearing 57.3, 14.7 (Local) 2025-09-20T19:34:57.343Z,1758396897.343 [DAT](INFO): Local bearing/azimuth received: Bearing 57.3, 14.7 (Local) 2025-09-20T19:34:57.345Z,1758396897.345 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.6 2025-09-20T19:34:57.350Z,1758396897.350 [DAT](INFO): DAT read: 19:34:59.6705 LVL= 32560, 32753, 23858, 32755, AGC= 54, IDX= 513,-0.42,-0.736,-2.722,-1.017,-0.727, PHS= 0.093,-1.950,-0.335, RAW= 138.6, 22.6, CAL= 141.2, 29.0, ROT= 8.8, -29.0 2025-09-20T19:34:57.351Z,1758396897.351 [DAT](INFO): got valid direction response: 19:34:59.6705 LVL= 32560, 32753, 23858, 32755, AGC= 54, IDX= 513,-0.42,-0.736,-2.722,-1.017,-0.727, PHS= 0.093,-1.950,-0.335, RAW= 138.6, 22.6, CAL= 141.2, 29.0, ROT= 8.8, -29.0 2025-09-20T19:34:57.351Z,1758396897.351 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-09-20T19:34:57.352Z,1758396897.352 [DAT](INFO): direction in FSK: [0.864324,0.133804,0.484810] 2025-09-20T19:34:57.352Z,1758396897.352 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:57.356Z,1758396897.356 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.500673 2025-09-20T19:34:57.519Z,1758396897.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.502811 s, deltaX: -0.200001 m, approachRate: -0.397765 m/s, rangeRepo size: 4 2025-09-20T19:34:57.521Z,1758396897.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.830721 m, bearing: 254.088195 deg, lat: 36.779305 deg, lon: -121.859590 deg, deltaT: 0.502811 s, deltaX: -0.199089 m, approachRate: -0.395952 m/s, posRepo size: 4 2025-09-20T19:34:57.522Z,1758396897.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.83 m. 2025-09-20T19:34:57.525Z,1758396897.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.830721 m, nav range: 14.255487 m, bearing: 248.958628 deg, approach rate: 0.000000 m/s, LOS rate: 0.031949 deg/s, cmd heading: 239.098449 deg, new cmd heading: 239.122394 deg. 2025-09-20T19:34:57.526Z,1758396897.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173473 target range: 15.830721 and range: 15.90 m. 2025-09-20T19:34:57.593Z,1758396897.593 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.736950 2025-09-20T19:34:57.845Z,1758396897.845 [DAT](INFO): DAT read: Rx Time:19:35:00.1702 2025-09-20T19:34:57.845Z,1758396897.845 [DAT](INFO): Rx dataTimestamp_ set to:1758396897.844731 2025-09-20T19:34:57.846Z,1758396897.846 [DAT](INFO): DAT read: Bearing 43.4, 11.9 (Local) 2025-09-20T19:34:57.847Z,1758396897.847 [DAT](INFO): Local bearing/azimuth received: Bearing 43.4, 11.9 (Local) 2025-09-20T19:34:57.849Z,1758396897.849 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.5 2025-09-20T19:34:57.853Z,1758396897.853 [DAT](INFO): DAT read: 19:35:00.1702 LVL= 31536, 30801, 20898, 32755, AGC= 53, IDX= 510,-0.35, 2.820, 0.943, 2.834, 2.692, PHS= 0.230,-1.704, 0.098, RAW= 146.5, 14.6, CAL= 146.3, 16.0, ROT= 3.7, -16.0 2025-09-20T19:34:57.854Z,1758396897.854 [DAT](INFO): got valid direction response: 19:35:00.1702 LVL= 31536, 30801, 20898, 32755, AGC= 53, IDX= 510,-0.35, 2.820, 0.943, 2.834, 2.692, PHS= 0.230,-1.704, 0.098, RAW= 146.5, 14.6, CAL= 146.3, 16.0, ROT= 3.7, -16.0 2025-09-20T19:34:57.855Z,1758396897.855 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-09-20T19:34:57.856Z,1758396897.856 [DAT](INFO): direction in FSK: [0.959258,0.062032,0.275637] 2025-09-20T19:34:57.856Z,1758396897.856 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:57.860Z,1758396897.860 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.004051 2025-09-20T19:34:57.987Z,1758396897.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503933 s, deltaX: -0.400000 m, approachRate: -0.793756 m/s, rangeRepo size: 4 2025-09-20T19:34:57.989Z,1758396897.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.432464 m, bearing: 247.659781 deg, lat: 36.779303 deg, lon: -121.859589 deg, deltaT: 0.503933 s, deltaX: -0.398257 m, approachRate: -0.790298 m/s, posRepo size: 4 2025-09-20T19:34:57.990Z,1758396897.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m. 2025-09-20T19:34:57.997Z,1758396897.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.432464 m, nav range: 13.971836 m, bearing: 248.310474 deg, approach rate: 0.000000 m/s, LOS rate: 0.031949 deg/s, cmd heading: 239.122382 deg, new cmd heading: 239.151762 deg. 2025-09-20T19:34:57.998Z,1758396897.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173985 target range: 15.432464 and range: 15.50 m. 2025-09-20T19:34:58.097Z,1758396898.097 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.241081 2025-09-20T19:34:58.304Z,1758396898.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m. 2025-09-20T19:34:58.307Z,1758396898.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.432464 m, nav range: 13.741362 m, bearing: 248.314710 deg, approach rate: -0.707367 m/s, LOS rate: 0.013220 deg/s, cmd heading: 239.151752 deg, new cmd heading: 239.160366 deg. 2025-09-20T19:34:58.308Z,1758396898.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174136 target range: 15.432464 and range: 15.50 m. 2025-09-20T19:34:58.349Z,1758396898.349 [DAT](INFO): DAT read: Rx Time:19:35:00.6701 2025-09-20T19:34:58.349Z,1758396898.349 [DAT](INFO): Rx dataTimestamp_ set to:1758396898.348911 2025-09-20T19:34:58.350Z,1758396898.350 [DAT](INFO): DAT read: Bearing 43.5, 11.7 (Local) 2025-09-20T19:34:58.351Z,1758396898.351 [DAT](INFO): Local bearing/azimuth received: Bearing 43.5, 11.7 (Local) 2025-09-20T19:34:58.353Z,1758396898.353 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.5 2025-09-20T19:34:58.358Z,1758396898.358 [DAT](INFO): DAT read: 19:35:00.6701 LVL= 31648, 29345, 22002, 32755, AGC= 53, IDX= 509,-0.32,-1.949, 2.457,-1.921,-2.068, PHS= 0.221,-1.713, 0.103, RAW= 146.9, 14.7, CAL= 146.7, 16.1, ROT= 3.3, -16.1 2025-09-20T19:34:58.359Z,1758396898.359 [DAT](INFO): got valid direction response: 19:35:00.6701 LVL= 31648, 29345, 22002, 32755, AGC= 53, IDX= 509,-0.32,-1.949, 2.457,-1.921,-2.068, PHS= 0.221,-1.713, 0.103, RAW= 146.9, 14.7, CAL= 146.7, 16.1, ROT= 3.3, -16.1 2025-09-20T19:34:58.359Z,1758396898.359 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-09-20T19:34:58.360Z,1758396898.360 [DAT](INFO): direction in FSK: [0.959186,0.055306,0.277315] 2025-09-20T19:34:58.360Z,1758396898.360 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:58.364Z,1758396898.364 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.508417 2025-09-20T19:34:58.600Z,1758396898.600 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.744265 2025-09-20T19:34:58.802Z,1758396898.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504180 s, deltaX: -0.200000 m, approachRate: -0.396683 m/s, rangeRepo size: 4 2025-09-20T19:34:58.809Z,1758396898.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.233333 m, bearing: 247.232044 deg, lat: 36.779303 deg, lon: -121.859590 deg, deltaT: 0.504180 s, deltaX: -0.199131 m, approachRate: -0.394960 m/s, posRepo size: 4 2025-09-20T19:34:58.810Z,1758396898.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.23 m. 2025-09-20T19:34:58.818Z,1758396898.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.233333 m, nav range: 13.536445 m, bearing: 248.236808 deg, approach rate: 0.000000 m/s, LOS rate: 0.013220 deg/s, cmd heading: 239.160358 deg, new cmd heading: 239.173489 deg. 2025-09-20T19:34:58.823Z,1758396898.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174365 target range: 15.233333 and range: 15.30 m. 2025-09-20T19:34:58.853Z,1758396898.853 [DAT](INFO): DAT read: Rx Time:19:35:01.1699 2025-09-20T19:34:58.853Z,1758396898.853 [DAT](INFO): Rx dataTimestamp_ set to:1758396898.853111 2025-09-20T19:34:58.855Z,1758396898.855 [DAT](INFO): DAT read: Bearing 43.7, 11.5 (Local) 2025-09-20T19:34:58.855Z,1758396898.855 [DAT](INFO): Local bearing/azimuth received: Bearing 43.7, 11.5 (Local) 2025-09-20T19:34:58.857Z,1758396898.857 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5 2025-09-20T19:34:58.862Z,1758396898.862 [DAT](INFO): DAT read: 19:35:01.1699 LVL= 32064, 28721, 22610, 32755, AGC= 53, IDX= 506,-0.25, 2.296, 0.434, 2.336, 2.192, PHS= 0.206,-1.713, 0.100, RAW= 147.2, 14.9, CAL= 147.1, 16.4, ROT= 2.9, -16.4 2025-09-20T19:34:58.863Z,1758396898.863 [DAT](INFO): got valid direction response: 19:35:01.1699 LVL= 32064, 28721, 22610, 32755, AGC= 53, IDX= 506,-0.25, 2.296, 0.434, 2.336, 2.192, PHS= 0.206,-1.713, 0.100, RAW= 147.2, 14.9, CAL= 147.1, 16.4, ROT= 2.9, -16.4 2025-09-20T19:34:58.863Z,1758396898.863 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-09-20T19:34:58.864Z,1758396898.864 [DAT](INFO): direction in FSK: [0.958085,0.048535,0.282341] 2025-09-20T19:34:58.865Z,1758396898.865 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:58.876Z,1758396898.876 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.020672 2025-09-20T19:34:59.104Z,1758396899.104 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.248251 2025-09-20T19:34:59.357Z,1758396899.357 [DAT](INFO): DAT read: Rx Time:19:35:01.6697 2025-09-20T19:34:59.357Z,1758396899.357 [DAT](INFO): Rx dataTimestamp_ set to:1758396899.356783 2025-09-20T19:34:59.358Z,1758396899.358 [DAT](INFO): DAT read: Bearing 43.7, 11.0 (Local) 2025-09-20T19:34:59.359Z,1758396899.359 [DAT](INFO): Local bearing/azimuth received: Bearing 43.7, 11.0 (Local) 2025-09-20T19:34:59.361Z,1758396899.361 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.6 2025-09-20T19:34:59.365Z,1758396899.365 [DAT](INFO): DAT read: 19:35:01.6697 LVL= 28880, 27969, 19314, 32099, AGC= 52, IDX= 504,-0.17, 2.198, 0.375, 2.259, 2.107, PHS= 0.193,-1.687, 0.108, RAW= 147.7, 14.9, CAL= 147.7, 16.5, ROT= 2.3, -16.5 2025-09-20T19:34:59.366Z,1758396899.366 [DAT](INFO): got valid direction response: 19:35:01.6697 LVL= 28880, 27969, 19314, 32099, AGC= 52, IDX= 504,-0.17, 2.198, 0.375, 2.259, 2.107, PHS= 0.193,-1.687, 0.108, RAW= 147.7, 14.9, CAL= 147.7, 16.5, ROT= 2.3, -16.5 2025-09-20T19:34:59.375Z,1758396899.375 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-09-20T19:34:59.376Z,1758396899.376 [DAT](INFO): direction in FSK: [0.958047,0.038479,0.284015] 2025-09-20T19:34:59.376Z,1758396899.376 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:59.389Z,1758396899.389 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.532879 2025-09-20T19:34:59.458Z,1758396899.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 1.007872 s, deltaX: -0.600000 m, approachRate: -0.595314 m/s, rangeRepo size: 4 2025-09-20T19:34:59.476Z,1758396899.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.635977 m, bearing: 246.189326 deg, lat: 36.779302 deg, lon: -121.859588 deg, deltaT: 1.007872 s, deltaX: -0.597356 m, approachRate: -0.592690 m/s, posRepo size: 4 2025-09-20T19:34:59.477Z,1758396899.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m. 2025-09-20T19:34:59.484Z,1758396899.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.635977 m, nav range: 13.015146 m, bearing: 247.604083 deg, approach rate: 0.000000 m/s, LOS rate: 0.013220 deg/s, cmd heading: 239.173499 deg, new cmd heading: 239.190853 deg. 2025-09-20T19:34:59.485Z,1758396899.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174668 target range: 14.635977 and range: 14.70 m. 2025-09-20T19:34:59.608Z,1758396899.608 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.752453 2025-09-20T19:34:59.861Z,1758396899.861 [DAT](INFO): DAT read: Rx Time:19:35:02.1694 2025-09-20T19:34:59.862Z,1758396899.862 [DAT](INFO): Rx dataTimestamp_ set to:1758396899.861309 2025-09-20T19:34:59.864Z,1758396899.864 [DAT](INFO): DAT read: Bearing 44.0, 10.5 (Local) 2025-09-20T19:34:59.864Z,1758396899.864 [DAT](INFO): Local bearing/azimuth received: Bearing 44.0, 10.5 (Local) 2025-09-20T19:34:59.867Z,1758396899.867 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.5 2025-09-20T19:34:59.872Z,1758396899.872 [DAT](INFO): DAT read: 19:35:02.1694 LVL= 27696, 23729, 20642, 32755, AGC= 51, IDX= 501,-0.12, 0.930,-0.866, 1.015, 0.861, PHS= 0.171,-1.682, 0.109, RAW= 148.3, 15.2, CAL= 148.4, 16.8, ROT= 1.6, -16.8 2025-09-20T19:34:59.873Z,1758396899.873 [DAT](INFO): got valid direction response: 19:35:02.1694 LVL= 27696, 23729, 20642, 32755, AGC= 51, IDX= 501,-0.12, 0.930,-0.866, 1.015, 0.861, PHS= 0.171,-1.682, 0.109, RAW= 148.3, 15.2, CAL= 148.4, 16.8, ROT= 1.6, -16.8 2025-09-20T19:34:59.873Z,1758396899.873 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-09-20T19:34:59.874Z,1758396899.874 [DAT](INFO): direction in FSK: [0.956946,0.026730,0.289032] 2025-09-20T19:34:59.874Z,1758396899.874 [DAT](INFO): publishing direction and range info 2025-09-20T19:34:59.878Z,1758396899.878 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.022488 2025-09-20T19:35:00.072Z,1758396900.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504526 s, deltaX: -0.400000 m, approachRate: -0.792823 m/s, rangeRepo size: 4 2025-09-20T19:35:00.076Z,1758396900.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.237720 m, bearing: 245.438903 deg, lat: 36.779300 deg, lon: -121.859588 deg, deltaT: 0.504526 s, deltaX: -0.398257 m, approachRate: -0.789369 m/s, posRepo size: 4 2025-09-20T19:35:00.077Z,1758396900.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.24 m. 2025-09-20T19:35:00.100Z,1758396900.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.237720 m, nav range: 12.696540 m, bearing: 246.741398 deg, approach rate: 0.000000 m/s, LOS rate: 0.013220 deg/s, cmd heading: 239.190848 deg, new cmd heading: 239.207034 deg. 2025-09-20T19:35:00.101Z,1758396900.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174950 target range: 14.237720 and range: 14.30 m. 2025-09-20T19:35:00.112Z,1758396900.112 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.256302 2025-09-20T19:35:00.365Z,1758396900.365 [DAT](INFO): DAT read: Rx Time:19:35:02.6693 2025-09-20T19:35:00.365Z,1758396900.365 [DAT](INFO): Rx dataTimestamp_ set to:1758396900.364946 2025-09-20T19:35:00.366Z,1758396900.366 [DAT](INFO): DAT read: Bearing 43.5, 10.3 (Local) 2025-09-20T19:35:00.367Z,1758396900.367 [DAT](INFO): Local bearing/azimuth received: Bearing 43.5, 10.3 (Local) 2025-09-20T19:35:00.369Z,1758396900.369 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.5 2025-09-20T19:35:00.374Z,1758396900.374 [DAT](INFO): DAT read: 19:35:02.6693 LVL= 29072, 26465, 19490, 31827, AGC= 52, IDX= 500,-0.07, 2.821, 1.009, 2.920, 2.743, PHS= 0.179,-1.689, 0.132, RAW= 148.7, 14.8, CAL= 148.8, 16.4, ROT= 1.2, -16.4 2025-09-20T19:35:00.375Z,1758396900.375 [DAT](INFO): got valid direction response: 19:35:02.6693 LVL= 29072, 26465, 19490, 31827, AGC= 52, IDX= 500,-0.07, 2.821, 1.009, 2.920, 2.743, PHS= 0.179,-1.689, 0.132, RAW= 148.7, 14.8, CAL= 148.8, 16.4, ROT= 1.2, -16.4 2025-09-20T19:35:00.375Z,1758396900.375 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-09-20T19:35:00.376Z,1758396900.376 [DAT](INFO): direction in FSK: [0.959104,0.020090,0.282341] 2025-09-20T19:35:00.376Z,1758396900.376 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:00.394Z,1758396900.394 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.538692 2025-09-20T19:35:00.594Z,1758396900.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503637 s, deltaX: -0.200000 m, approachRate: -0.397111 m/s, rangeRepo size: 4 2025-09-20T19:35:00.601Z,1758396900.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.038583 m, bearing: 244.943343 deg, lat: 36.779299 deg, lon: -121.859588 deg, deltaT: 0.503637 s, deltaX: -0.199137 m, approachRate: -0.395397 m/s, posRepo size: 4 2025-09-20T19:35:00.601Z,1758396900.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m. 2025-09-20T19:35:00.608Z,1758396900.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.038583 m, nav range: 12.439927 m, bearing: 246.072117 deg, approach rate: 0.000000 m/s, LOS rate: 0.013220 deg/s, cmd heading: 239.207022 deg, new cmd heading: 239.220879 deg. 2025-09-20T19:35:00.609Z,1758396900.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175192 target range: 14.038583 and range: 14.10 m. 2025-09-20T19:35:00.616Z,1758396900.616 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.760342 2025-09-20T19:35:00.869Z,1758396900.869 [DAT](INFO): DAT read: Rx Time:19:35:03.1690 2025-09-20T19:35:00.869Z,1758396900.869 [DAT](INFO): Rx dataTimestamp_ set to:1758396900.868721 2025-09-20T19:35:00.870Z,1758396900.870 [DAT](INFO): DAT read: Bearing 43.7, 10.0 (Local) 2025-09-20T19:35:00.871Z,1758396900.871 [DAT](INFO): Local bearing/azimuth received: Bearing 43.7, 10.0 (Local) 2025-09-20T19:35:00.873Z,1758396900.873 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.5 2025-09-20T19:35:00.877Z,1758396900.877 [DAT](INFO): DAT read: 19:35:03.1690 LVL= 32432, 29681, 23106, 32755, AGC= 53, IDX= 497,-0.07, 2.227, 0.388, 2.337, 2.157, PHS= 0.172,-1.725, 0.136, RAW= 149.1, 14.9, CAL= 149.2, 16.6, ROT= 0.8, -16.6 2025-09-20T19:35:00.878Z,1758396900.878 [DAT](INFO): got valid direction response: 19:35:03.1690 LVL= 32432, 29681, 23106, 32755, AGC= 53, IDX= 497,-0.07, 2.227, 0.388, 2.337, 2.157, PHS= 0.172,-1.725, 0.136, RAW= 149.1, 14.9, CAL= 149.2, 16.6, ROT= 0.8, -16.6 2025-09-20T19:35:00.879Z,1758396900.879 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-09-20T19:35:00.884Z,1758396900.884 [DAT](INFO): direction in FSK: [0.958229,0.013380,0.285688] 2025-09-20T19:35:00.884Z,1758396900.884 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:00.896Z,1758396900.896 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.040234 2025-09-20T19:35:01.102Z,1758396901.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503775 s, deltaX: -0.400001 m, approachRate: -0.794006 m/s, rangeRepo size: 4 2025-09-20T19:35:01.105Z,1758396901.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.640325 m, bearing: 244.456327 deg, lat: 36.779298 deg, lon: -121.859588 deg, deltaT: 0.503775 s, deltaX: -0.398258 m, approachRate: -0.790548 m/s, posRepo size: 4 2025-09-20T19:35:01.105Z,1758396901.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.64 m. 2025-09-20T19:35:01.108Z,1758396901.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.640325 m, nav range: 12.134473 m, bearing: 245.424877 deg, approach rate: 0.000000 m/s, LOS rate: 0.013220 deg/s, cmd heading: 239.220873 deg, new cmd heading: 239.234318 deg. 2025-09-20T19:35:01.109Z,1758396901.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175426 target range: 13.640325 and range: 13.70 m. 2025-09-20T19:35:01.125Z,1758396901.125 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.268799 2025-09-20T19:35:01.377Z,1758396901.377 [DAT](INFO): DAT read: Rx Time:19:35:03.6689 2025-09-20T19:35:01.377Z,1758396901.377 [DAT](INFO): Rx dataTimestamp_ set to:1758396901.376821 2025-09-20T19:35:01.378Z,1758396901.378 [DAT](INFO): DAT read: Bearing 53.2, 7.8 (Local) 2025-09-20T19:35:01.379Z,1758396901.379 [DAT](INFO): Local bearing/azimuth received: Bearing 53.2, 7.8 (Local) 2025-09-20T19:35:01.381Z,1758396901.381 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.5 2025-09-20T19:35:01.394Z,1758396901.394 [DAT](INFO): DAT read: 19:35:03.6689 LVL= 27424, 31297, 20914, 32755, AGC= 52, IDX= 512,-0.08,-1.134, 3.088,-1.042,-1.017, PHS=-0.015,-2.133,-0.069, RAW= 148.7, 20.5, CAL= 150.9, 26.1, ROT= 359.1, -26.1 2025-09-20T19:35:01.395Z,1758396901.395 [DAT](INFO): got valid direction response: 19:35:03.6689 LVL= 27424, 31297, 20914, 32755, AGC= 52, IDX= 512,-0.08,-1.134, 3.088,-1.042,-1.017, PHS=-0.015,-2.133,-0.069, RAW= 148.7, 20.5, CAL= 150.9, 26.1, ROT= 359.1, -26.1 2025-09-20T19:35:01.395Z,1758396901.395 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-09-20T19:35:01.396Z,1758396901.396 [DAT](INFO): direction in FSK: [0.897917,-0.014105,0.439939] 2025-09-20T19:35:01.397Z,1758396901.397 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:01.405Z,1758396901.405 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.549191 2025-09-20T19:35:01.460Z,1758396901.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.508100 s, deltaX: -0.200000 m, approachRate: -0.393623 m/s, rangeRepo size: 4 2025-09-20T19:35:01.462Z,1758396901.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.441187 m, bearing: 242.923638 deg, lat: 36.779298 deg, lon: -121.859588 deg, deltaT: 0.508100 s, deltaX: -0.199138 m, approachRate: -0.391926 m/s, posRepo size: 4 2025-09-20T19:35:01.463Z,1758396901.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m. 2025-09-20T19:35:01.470Z,1758396901.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.441187 m, nav range: 11.893825 m, bearing: 245.329030 deg, approach rate: 0.000000 m/s, LOS rate: 0.013220 deg/s, cmd heading: 239.234315 deg, new cmd heading: 239.243656 deg. 2025-09-20T19:35:01.473Z,1758396901.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175590 target range: 13.441187 and range: 13.50 m. 2025-09-20T19:35:01.628Z,1758396901.628 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.772449 2025-09-20T19:35:01.870Z,1758396901.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:01.872Z,1758396901.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m. 2025-09-20T19:35:01.875Z,1758396901.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.441187 m, nav range: 11.597926 m, bearing: 245.278618 deg, approach rate: -0.709858 m/s, LOS rate: -0.124022 deg/s, cmd heading: 239.243659 deg, new cmd heading: 239.140264 deg. 2025-09-20T19:35:01.876Z,1758396901.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173785 target range: 13.441187 and range: 13.50 m. 2025-09-20T19:35:01.881Z,1758396901.881 [DAT](INFO): DAT read: Rx Time:19:35:04.1686 2025-09-20T19:35:01.881Z,1758396901.881 [DAT](INFO): Rx dataTimestamp_ set to:1758396901.880869 2025-09-20T19:35:01.882Z,1758396901.882 [DAT](INFO): DAT read: Bearing 43.3, 8.8 (Local) 2025-09-20T19:35:01.883Z,1758396901.883 [DAT](INFO): Local bearing/azimuth received: Bearing 43.3, 8.8 (Local) 2025-09-20T19:35:01.885Z,1758396901.885 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.5 2025-09-20T19:35:01.890Z,1758396901.890 [DAT](INFO): DAT read: 19:35:04.1686 LVL= 30960, 32753, 24050, 32755, AGC= 54, IDX= 509,-0.13,-2.452, 2.017,-2.287,-2.506, PHS= 0.156,-1.715, 0.175, RAW= 150.5, 14.6, CAL= 150.7, 16.3, ROT= 359.3, -16.3 2025-09-20T19:35:01.891Z,1758396901.891 [DAT](INFO): got valid direction response: 19:35:04.1686 LVL= 30960, 32753, 24050, 32755, AGC= 54, IDX= 509,-0.13,-2.452, 2.017,-2.287,-2.506, PHS= 0.156,-1.715, 0.175, RAW= 150.5, 14.6, CAL= 150.7, 16.3, ROT= 359.3, -16.3 2025-09-20T19:35:01.891Z,1758396901.891 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-09-20T19:35:01.892Z,1758396901.892 [DAT](INFO): direction in FSK: [0.959734,-0.011726,0.280667] 2025-09-20T19:35:01.892Z,1758396901.892 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:01.928Z,1758396901.928 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.072124 2025-09-20T19:35:02.133Z,1758396902.133 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.276863 2025-09-20T19:35:02.308Z,1758396902.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504048 s, deltaX: -0.400000 m, approachRate: -0.793574 m/s, rangeRepo size: 4 2025-09-20T19:35:02.310Z,1758396902.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.042915 m, bearing: 242.856446 deg, lat: 36.779296 deg, lon: -121.859588 deg, deltaT: 0.504048 s, deltaX: -0.398272 m, approachRate: -0.790146 m/s, posRepo size: 4 2025-09-20T19:35:02.311Z,1758396902.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m. 2025-09-20T19:35:02.314Z,1758396902.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.042915 m, nav range: 11.376343 m, bearing: 244.513146 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 239.140277 deg, new cmd heading: 239.032166 deg. 2025-09-20T19:35:02.316Z,1758396902.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171898 target range: 13.042915 and range: 13.10 m. 2025-09-20T19:35:02.386Z,1758396902.386 [DAT](INFO): DAT read: Rx Time:19:35:04.6685 2025-09-20T19:35:02.386Z,1758396902.386 [DAT](INFO): Rx dataTimestamp_ set to:1758396902.386121 2025-09-20T19:35:02.389Z,1758396902.389 [DAT](INFO): DAT read: Bearing 43.2, 8.0 (Local) 2025-09-20T19:35:02.389Z,1758396902.389 [DAT](INFO): Local bearing/azimuth received: Bearing 43.2, 8.0 (Local) 2025-09-20T19:35:02.392Z,1758396902.392 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.5 2025-09-20T19:35:02.397Z,1758396902.397 [DAT](INFO): DAT read: 19:35:04.6685 LVL= 32752, 32753, 24930, 32755, AGC= 55, IDX= 508,-0.22,-0.390,-2.189,-0.188,-0.430, PHS= 0.143,-1.713, 0.198, RAW= 151.5, 14.4, CAL= 151.7, 16.2, ROT= 358.3, -16.2 2025-09-20T19:35:02.398Z,1758396902.398 [DAT](INFO): got valid direction response: 19:35:04.6685 LVL= 32752, 32753, 24930, 32755, AGC= 55, IDX= 508,-0.22,-0.390,-2.189,-0.188,-0.430, PHS= 0.143,-1.713, 0.198, RAW= 151.5, 14.4, CAL= 151.7, 16.2, ROT= 358.3, -16.2 2025-09-20T19:35:02.398Z,1758396902.398 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-09-20T19:35:02.400Z,1758396902.400 [DAT](INFO): direction in FSK: [0.959871,-0.028489,0.278991] 2025-09-20T19:35:02.400Z,1758396902.400 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:02.403Z,1758396902.403 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.547699 2025-09-20T19:35:02.636Z,1758396902.636 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.780167 2025-09-20T19:35:02.771Z,1758396902.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.505252 s, deltaX: -0.200001 m, approachRate: -0.395844 m/s, rangeRepo size: 4 2025-09-20T19:35:02.773Z,1758396902.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.843785 m, bearing: 241.746888 deg, lat: 36.779296 deg, lon: -121.859589 deg, deltaT: 0.505252 s, deltaX: -0.199130 m, approachRate: -0.394120 m/s, posRepo size: 4 2025-09-20T19:35:02.775Z,1758396902.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m. 2025-09-20T19:35:02.806Z,1758396902.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.843785 m, nav range: 11.200323 m, bearing: 244.306624 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 239.032169 deg, new cmd heading: 238.920602 deg. 2025-09-20T19:35:02.814Z,1758396902.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169951 target range: 12.843785 and range: 12.90 m. 2025-09-20T19:35:02.889Z,1758396902.889 [DAT](INFO): DAT read: Rx Time:19:35:05.1682 2025-09-20T19:35:02.890Z,1758396902.890 [DAT](INFO): Rx dataTimestamp_ set to:1758396902.889259 2025-09-20T19:35:02.893Z,1758396902.893 [DAT](INFO): DAT read: Bearing 43.0, 6.6 (Local) 2025-09-20T19:35:02.893Z,1758396902.893 [DAT](INFO): Local bearing/azimuth received: Bearing 43.0, 6.6 (Local) 2025-09-20T19:35:02.897Z,1758396902.897 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 2025-09-20T19:35:02.902Z,1758396902.902 [DAT](INFO): DAT read: 19:35:05.1682 LVL= 27424, 32753, 21298, 32755, AGC= 54, IDX= 505,-0.30,-0.847,-2.575,-0.590,-0.861, PHS= 0.116,-1.669, 0.228, RAW= 153.0, 14.3, CAL= 153.3, 16.0, ROT= 356.7, -16.0 2025-09-20T19:35:02.904Z,1758396902.904 [DAT](INFO): got valid direction response: 19:35:05.1682 LVL= 27424, 32753, 21298, 32755, AGC= 54, IDX= 505,-0.30,-0.847,-2.575,-0.590,-0.861, PHS= 0.116,-1.669, 0.228, RAW= 153.0, 14.3, CAL= 153.3, 16.0, ROT= 356.7, -16.0 2025-09-20T19:35:02.904Z,1758396902.904 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-09-20T19:35:02.905Z,1758396902.905 [DAT](INFO): direction in FSK: [0.959668,-0.055334,0.275637] 2025-09-20T19:35:02.905Z,1758396902.905 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:02.909Z,1758396902.909 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.053215 2025-09-20T19:35:03.140Z,1758396903.140 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.284122 2025-09-20T19:35:03.330Z,1758396903.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503138 s, deltaX: -0.400000 m, approachRate: -0.795010 m/s, rangeRepo size: 4 2025-09-20T19:35:03.353Z,1758396903.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.445547 m, bearing: 239.963702 deg, lat: 36.779292 deg, lon: -121.859588 deg, deltaT: 0.503138 s, deltaX: -0.398238 m, approachRate: -0.791509 m/s, posRepo size: 4 2025-09-20T19:35:03.354Z,1758396903.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m. 2025-09-20T19:35:03.361Z,1758396903.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.445547 m, nav range: 10.890167 m, bearing: 242.295461 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 238.920591 deg, new cmd heading: 238.778882 deg. 2025-09-20T19:35:03.361Z,1758396903.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167478 target range: 12.445547 and range: 12.50 m. 2025-09-20T19:35:03.393Z,1758396903.393 [DAT](INFO): DAT read: Rx Time:19:35:05.6680 2025-09-20T19:35:03.393Z,1758396903.393 [DAT](INFO): Rx dataTimestamp_ set to:1758396903.393121 2025-09-20T19:35:03.395Z,1758396903.395 [DAT](INFO): DAT read: Bearing 41.8, 5.8 (Local) 2025-09-20T19:35:03.395Z,1758396903.395 [DAT](INFO): Local bearing/azimuth received: Bearing 41.8, 5.8 (Local) 2025-09-20T19:35:03.397Z,1758396903.397 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.5 2025-09-20T19:35:03.403Z,1758396903.403 [DAT](INFO): DAT read: 19:35:05.6680 LVL= 28208, 32753, 20578, 31411, AGC= 55, IDX= 503,-0.34,-0.373,-2.104,-0.071,-0.399, PHS= 0.128,-1.660, 0.284, RAW= 154.1, 13.3, CAL= 154.4, 14.9, ROT= 355.6, -14.9 2025-09-20T19:35:03.405Z,1758396903.405 [DAT](INFO): got valid direction response: 19:35:05.6680 LVL= 28208, 32753, 20578, 31411, AGC= 55, IDX= 503,-0.34,-0.373,-2.104,-0.071,-0.399, PHS= 0.128,-1.660, 0.284, RAW= 154.1, 13.3, CAL= 154.4, 14.9, ROT= 355.6, -14.9 2025-09-20T19:35:03.405Z,1758396903.405 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-09-20T19:35:03.407Z,1758396903.407 [DAT](INFO): direction in FSK: [0.963528,-0.074139,0.257133] 2025-09-20T19:35:03.407Z,1758396903.407 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:03.413Z,1758396903.413 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.557156 2025-09-20T19:35:03.645Z,1758396903.645 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.789566 2025-09-20T19:35:03.779Z,1758396903.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503862 s, deltaX: -0.200000 m, approachRate: -0.396934 m/s, rangeRepo size: 4 2025-09-20T19:35:03.800Z,1758396903.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.246419 m, bearing: 238.733054 deg, lat: 36.779291 deg, lon: -121.859589 deg, deltaT: 0.503862 s, deltaX: -0.199128 m, approachRate: -0.395204 m/s, posRepo size: 4 2025-09-20T19:35:03.808Z,1758396903.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.25 m. 2025-09-20T19:35:03.839Z,1758396903.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.246419 m, nav range: 10.775225 m, bearing: 241.254916 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 238.778878 deg, new cmd heading: 238.669213 deg. 2025-09-20T19:35:03.844Z,1758396903.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165564 target range: 12.246419 and range: 12.30 m. 2025-09-20T19:35:03.897Z,1758396903.897 [DAT](INFO): DAT read: Rx Time:19:35:06.1677 2025-09-20T19:35:03.897Z,1758396903.897 [DAT](INFO): Rx dataTimestamp_ set to:1758396903.896864 2025-09-20T19:35:03.898Z,1758396903.898 [DAT](INFO): DAT read: Bearing 42.8, 4.9 (Local) 2025-09-20T19:35:03.899Z,1758396903.899 [DAT](INFO): Local bearing/azimuth received: Bearing 42.8, 4.9 (Local) 2025-09-20T19:35:03.901Z,1758396903.901 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.5 2025-09-20T19:35:03.906Z,1758396903.906 [DAT](INFO): DAT read: 19:35:06.1677 LVL= 27632, 29025, 21778, 32755, AGC= 55, IDX= 500,-0.38,-1.244,-2.952,-0.913,-1.230, PHS= 0.088,-1.677, 0.273, RAW= 154.9, 14.0, CAL= 155.3, 15.9, ROT= 354.7, -15.9 2025-09-20T19:35:03.907Z,1758396903.907 [DAT](INFO): got valid direction response: 19:35:06.1677 LVL= 27632, 29025, 21778, 32755, AGC= 55, IDX= 500,-0.38,-1.244,-2.952,-0.913,-1.230, PHS= 0.088,-1.677, 0.273, RAW= 154.9, 14.0, CAL= 155.3, 15.9, ROT= 354.7, -15.9 2025-09-20T19:35:03.907Z,1758396903.907 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-09-20T19:35:03.908Z,1758396903.908 [DAT](INFO): direction in FSK: [0.957630,-0.088837,0.273959] 2025-09-20T19:35:03.908Z,1758396903.908 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:03.912Z,1758396903.912 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.056229 2025-09-20T19:35:04.152Z,1758396904.152 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.295738 2025-09-20T19:35:04.306Z,1758396904.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503743 s, deltaX: -0.400001 m, approachRate: -0.794057 m/s, rangeRepo size: 4 2025-09-20T19:35:04.309Z,1758396904.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.848208 m, bearing: 237.779441 deg, lat: 36.779288 deg, lon: -121.859589 deg, deltaT: 0.503743 s, deltaX: -0.398211 m, approachRate: -0.790503 m/s, posRepo size: 4 2025-09-20T19:35:04.309Z,1758396904.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-09-20T19:35:04.312Z,1758396904.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.848208 m, nav range: 10.527661 m, bearing: 239.572137 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 238.669213 deg, new cmd heading: 238.536569 deg. 2025-09-20T19:35:04.313Z,1758396904.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163249 target range: 11.848208 and range: 11.90 m. 2025-09-20T19:35:04.401Z,1758396904.401 [DAT](INFO): DAT read: Rx Time:19:35:06.6676 2025-09-20T19:35:04.401Z,1758396904.401 [DAT](INFO): Rx dataTimestamp_ set to:1758396904.400941 2025-09-20T19:35:04.402Z,1758396904.402 [DAT](INFO): DAT read: Bearing 40.9, 3.1 (Local) 2025-09-20T19:35:04.403Z,1758396904.403 [DAT](INFO): Local bearing/azimuth received: Bearing 40.9, 3.1 (Local) 2025-09-20T19:35:04.405Z,1758396904.405 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.6 2025-09-20T19:35:04.411Z,1758396904.411 [DAT](INFO): DAT read: 19:35:06.6676 LVL= 24720, 32753, 19682, 32755, AGC= 53, IDX= 499,-0.32,-1.331,-2.932,-0.929,-1.319, PHS= 0.090,-1.568, 0.346, RAW= 157.1, 12.5, CAL= 157.4, 14.1, ROT= 352.6, -14.1 2025-09-20T19:35:04.412Z,1758396904.412 [DAT](INFO): got valid direction response: 19:35:06.6676 LVL= 24720, 32753, 19682, 32755, AGC= 53, IDX= 499,-0.32,-1.331,-2.932,-0.929,-1.319, PHS= 0.090,-1.568, 0.346, RAW= 157.1, 12.5, CAL= 157.4, 14.1, ROT= 352.6, -14.1 2025-09-20T19:35:04.413Z,1758396904.413 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-09-20T19:35:04.414Z,1758396904.414 [DAT](INFO): direction in FSK: [0.961794,-0.124915,0.243615] 2025-09-20T19:35:04.416Z,1758396904.416 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:04.420Z,1758396904.420 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.564022 2025-09-20T19:35:04.645Z,1758396904.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504077 s, deltaX: -0.200000 m, approachRate: -0.396764 m/s, rangeRepo size: 4 2025-09-20T19:35:04.647Z,1758396904.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.649079 m, bearing: 235.443560 deg, lat: 36.779286 deg, lon: -121.859588 deg, deltaT: 0.504077 s, deltaX: -0.199129 m, approachRate: -0.395037 m/s, posRepo size: 4 2025-09-20T19:35:04.648Z,1758396904.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.65 m. 2025-09-20T19:35:04.650Z,1758396904.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.649079 m, nav range: 10.404126 m, bearing: 238.033868 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 238.536570 deg, new cmd heading: 238.452598 deg. 2025-09-20T19:35:04.652Z,1758396904.652 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.796326 2025-09-20T19:35:04.653Z,1758396904.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161783 target range: 11.649079 and range: 11.70 m. 2025-09-20T19:35:04.909Z,1758396904.909 [DAT](INFO): DAT read: Rx Time:19:35:07.1673 2025-09-20T19:35:04.909Z,1758396904.909 [DAT](INFO): Rx dataTimestamp_ set to:1758396904.908745 2025-09-20T19:35:04.910Z,1758396904.910 [DAT](INFO): DAT read: Bearing 41.2, 2.3 (Local) 2025-09-20T19:35:04.911Z,1758396904.911 [DAT](INFO): Local bearing/azimuth received: Bearing 41.2, 2.3 (Local) 2025-09-20T19:35:04.913Z,1758396904.913 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.5 2025-09-20T19:35:04.917Z,1758396904.917 [DAT](INFO): DAT read: 19:35:07.1673 LVL= 29360, 31601, 20594, 32755, AGC= 54, IDX= 496,-0.45,-1.941, 2.726,-1.503,-1.909, PHS= 0.070,-1.603, 0.362, RAW= 157.9, 12.7, CAL= 158.3, 14.3, ROT= 351.7, -14.3 2025-09-20T19:35:04.918Z,1758396904.918 [DAT](INFO): got valid direction response: 19:35:07.1673 LVL= 29360, 31601, 20594, 32755, AGC= 54, IDX= 496,-0.45,-1.941, 2.726,-1.503,-1.909, PHS= 0.070,-1.603, 0.362, RAW= 157.9, 12.7, CAL= 158.3, 14.3, ROT= 351.7, -14.3 2025-09-20T19:35:04.919Z,1758396904.919 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-09-20T19:35:04.920Z,1758396904.920 [DAT](INFO): direction in FSK: [0.958866,-0.139883,0.246999] 2025-09-20T19:35:04.920Z,1758396904.920 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:04.923Z,1758396904.923 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.067623 2025-09-20T19:35:05.102Z,1758396905.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.507804 s, deltaX: -0.400000 m, approachRate: -0.787705 m/s, rangeRepo size: 4 2025-09-20T19:35:05.108Z,1758396905.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.250820 m, bearing: 234.461143 deg, lat: 36.779285 deg, lon: -121.859587 deg, deltaT: 0.507804 s, deltaX: -0.398259 m, approachRate: -0.784277 m/s, posRepo size: 4 2025-09-20T19:35:05.109Z,1758396905.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-09-20T19:35:05.116Z,1758396905.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.250820 m, nav range: 10.090190 m, bearing: 237.267895 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 238.452586 deg, new cmd heading: 238.339177 deg. 2025-09-20T19:35:05.117Z,1758396905.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159803 target range: 11.250820 and range: 11.30 m. 2025-09-20T19:35:05.163Z,1758396905.163 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.307198 2025-09-20T19:35:05.413Z,1758396905.413 [DAT](INFO): DAT read: Rx Time:19:35:07.6672 2025-09-20T19:35:05.413Z,1758396905.413 [DAT](INFO): Rx dataTimestamp_ set to:1758396905.412741 2025-09-20T19:35:05.414Z,1758396905.414 [DAT](INFO): DAT read: Bearing 39.1, 2.1 (Local) 2025-09-20T19:35:05.415Z,1758396905.415 [DAT](INFO): Local bearing/azimuth received: Bearing 39.1, 2.1 (Local) 2025-09-20T19:35:05.417Z,1758396905.417 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.5 2025-09-20T19:35:05.421Z,1758396905.421 [DAT](INFO): DAT read: 19:35:07.6672 LVL= 24448, 32609, 22578, 32755, AGC= 53, IDX= 510, 0.33, 1.140,-0.521, 1.613, 1.128, PHS= 0.113,-1.604, 0.440, RAW= 158.6, 11.1, CAL= 158.7, 12.2, ROT= 351.3, -12.2 2025-09-20T19:35:05.422Z,1758396905.422 [DAT](INFO): got valid direction response: 19:35:07.6672 LVL= 24448, 32609, 22578, 32755, AGC= 53, IDX= 510, 0.33, 1.140,-0.521, 1.613, 1.128, PHS= 0.113,-1.604, 0.440, RAW= 158.6, 11.1, CAL= 158.7, 12.2, ROT= 351.3, -12.2 2025-09-20T19:35:05.423Z,1758396905.423 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-09-20T19:35:05.424Z,1758396905.424 [DAT](INFO): direction in FSK: [0.966170,-0.147845,0.211325] 2025-09-20T19:35:05.424Z,1758396905.424 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:05.438Z,1758396905.438 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.581810 2025-09-20T19:35:05.565Z,1758396905.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503996 s, deltaX: -0.200000 m, approachRate: -0.396828 m/s, rangeRepo size: 4 2025-09-20T19:35:05.575Z,1758396905.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.051673 m, bearing: 233.988218 deg, lat: 36.779281 deg, lon: -121.859587 deg, deltaT: 0.503996 s, deltaX: -0.199147 m, approachRate: -0.395137 m/s, posRepo size: 4 2025-09-20T19:35:05.576Z,1758396905.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.05 m. 2025-09-20T19:35:05.580Z,1758396905.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.051673 m, nav range: 10.035971 m, bearing: 234.910152 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 238.339178 deg, new cmd heading: 238.224362 deg. 2025-09-20T19:35:05.581Z,1758396905.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157799 target range: 11.051673 and range: 11.10 m. 2025-09-20T19:35:05.666Z,1758396905.666 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.809734 2025-09-20T19:35:05.917Z,1758396905.917 [DAT](INFO): DAT read: Rx Time:19:35:08.1669 2025-09-20T19:35:05.917Z,1758396905.917 [DAT](INFO): Rx dataTimestamp_ set to:1758396905.916844 2025-09-20T19:35:05.918Z,1758396905.918 [DAT](INFO): DAT read: Bearing 40.2, 1.3 (Local) 2025-09-20T19:35:05.919Z,1758396905.919 [DAT](INFO): Local bearing/azimuth received: Bearing 40.2, 1.3 (Local) 2025-09-20T19:35:05.922Z,1758396905.922 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.6 2025-09-20T19:35:05.926Z,1758396905.926 [DAT](INFO): DAT read: 19:35:08.1669 LVL= 22624, 22961, 20402, 30099, AGC= 53, IDX= 507, 0.20, 0.499,-1.145, 1.004, 0.531, PHS= 0.070,-1.631, 0.430, RAW= 159.4, 11.8, CAL= 159.7, 13.3, ROT= 350.3, -13.3 2025-09-20T19:35:05.927Z,1758396905.927 [DAT](INFO): got valid direction response: 19:35:08.1669 LVL= 22624, 22961, 20402, 30099, AGC= 53, IDX= 507, 0.20, 0.499,-1.145, 1.004, 0.531, PHS= 0.070,-1.631, 0.430, RAW= 159.4, 11.8, CAL= 159.7, 13.3, ROT= 350.3, -13.3 2025-09-20T19:35:05.928Z,1758396905.928 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-09-20T19:35:05.929Z,1758396905.929 [DAT](INFO): direction in FSK: [0.959266,-0.163970,0.230050] 2025-09-20T19:35:05.929Z,1758396905.929 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:05.933Z,1758396905.933 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.076984 2025-09-20T19:35:06.056Z,1758396906.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504103 s, deltaX: -0.400001 m, approachRate: -0.793490 m/s, rangeRepo size: 4 2025-09-20T19:35:06.067Z,1758396906.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.653414 m, bearing: 232.884633 deg, lat: 36.779281 deg, lon: -121.859587 deg, deltaT: 0.504103 s, deltaX: -0.398259 m, approachRate: -0.790035 m/s, posRepo size: 4 2025-09-20T19:35:06.068Z,1758396906.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m. 2025-09-20T19:35:06.071Z,1758396906.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.653414 m, nav range: 9.716326 m, bearing: 234.169629 deg, approach rate: 0.000000 m/s, LOS rate: -0.124022 deg/s, cmd heading: 238.224349 deg, new cmd heading: 238.103984 deg. 2025-09-20T19:35:06.072Z,1758396906.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155698 target range: 10.653414 and range: 10.70 m. 2025-09-20T19:35:06.169Z,1758396906.169 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.313103 2025-09-20T19:35:06.389Z,1758396906.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:06.391Z,1758396906.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m. 2025-09-20T19:35:06.394Z,1758396906.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.653414 m, nav range: 9.457479 m, bearing: 233.800333 deg, approach rate: -0.759281 m/s, LOS rate: -1.112902 deg/s, cmd heading: 238.103973 deg, new cmd heading: 237.345217 deg. 2025-09-20T19:35:06.395Z,1758396906.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142456 target range: 10.653414 and range: 10.70 m. 2025-09-20T19:35:06.421Z,1758396906.421 [DAT](INFO): DAT read: Rx Time:19:35:08.6668 2025-09-20T19:35:06.421Z,1758396906.421 [DAT](INFO): Rx dataTimestamp_ set to:1758396906.420825 2025-09-20T19:35:06.422Z,1758396906.422 [DAT](INFO): DAT read: Bearing 38.2, 3.1 (Local) 2025-09-20T19:35:06.423Z,1758396906.423 [DAT](INFO): Local bearing/azimuth received: Bearing 38.2, 3.1 (Local) 2025-09-20T19:35:06.426Z,1758396906.426 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.5 2025-09-20T19:35:06.432Z,1758396906.432 [DAT](INFO): DAT read: 19:35:08.6668 LVL= 31088, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.08, 2.447, 0.782, 2.899, 2.403, PHS= 0.146,-1.576, 0.452, RAW= 158.0, 10.3, CAL= 158.0, 11.3, ROT= 352.0, -11.3 2025-09-20T19:35:06.434Z,1758396906.434 [DAT](INFO): got valid direction response: 19:35:08.6668 LVL= 31088, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.08, 2.447, 0.782, 2.899, 2.403, PHS= 0.146,-1.576, 0.452, RAW= 158.0, 10.3, CAL= 158.0, 11.3, ROT= 352.0, -11.3 2025-09-20T19:35:06.434Z,1758396906.434 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-09-20T19:35:06.436Z,1758396906.436 [DAT](INFO): direction in FSK: [0.971071,-0.136475,0.195946] 2025-09-20T19:35:06.436Z,1758396906.436 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:06.451Z,1758396906.451 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.594524 2025-09-20T19:35:06.677Z,1758396906.677 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.821705 2025-09-20T19:35:06.838Z,1758396906.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503981 s, deltaX: -0.200000 m, approachRate: -0.396840 m/s, rangeRepo size: 4 2025-09-20T19:35:06.846Z,1758396906.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.454153 m, bearing: 234.626142 deg, lat: 36.779280 deg, lon: -121.859587 deg, deltaT: 0.503981 s, deltaX: -0.199261 m, approachRate: -0.395373 m/s, posRepo size: 4 2025-09-20T19:35:06.848Z,1758396906.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m. 2025-09-20T19:35:06.879Z,1758396906.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.454153 m, nav range: 9.249930 m, bearing: 232.871422 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 237.345221 deg, new cmd heading: 236.357788 deg. 2025-09-20T19:35:06.887Z,1758396906.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125222 target range: 10.454153 and range: 10.50 m. 2025-09-20T19:35:06.929Z,1758396906.929 [DAT](INFO): DAT read: Rx Time:19:35:09.1665 2025-09-20T19:35:06.929Z,1758396906.929 [DAT](INFO): Rx dataTimestamp_ set to:1758396906.928896 2025-09-20T19:35:06.930Z,1758396906.930 [DAT](INFO): DAT read: Bearing 40.4, 2.8 (Local) 2025-09-20T19:35:06.931Z,1758396906.931 [DAT](INFO): Local bearing/azimuth received: Bearing 40.4, 2.8 (Local) 2025-09-20T19:35:06.933Z,1758396906.933 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.5 2025-09-20T19:35:06.938Z,1758396906.938 [DAT](INFO): DAT read: 19:35:09.1665 LVL= 23568, 28929, 21346, 32755, AGC= 52, IDX= 503, 0.12, 0.777,-0.888, 1.231, 0.787, PHS= 0.092,-1.630, 0.400, RAW= 158.1, 12.0, CAL= 158.4, 13.4, ROT= 351.6, -13.4 2025-09-20T19:35:06.940Z,1758396906.940 [DAT](INFO): got valid direction response: 19:35:09.1665 LVL= 23568, 28929, 21346, 32755, AGC= 52, IDX= 503, 0.12, 0.777,-0.888, 1.231, 0.787, PHS= 0.092,-1.630, 0.400, RAW= 158.1, 12.0, CAL= 158.4, 13.4, ROT= 351.6, -13.4 2025-09-20T19:35:06.940Z,1758396906.940 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-09-20T19:35:06.942Z,1758396906.942 [DAT](INFO): direction in FSK: [0.962340,-0.142106,0.231748] 2025-09-20T19:35:06.942Z,1758396906.942 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:06.948Z,1758396906.948 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.091991 2025-09-20T19:35:07.180Z,1758396907.180 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.324265 2025-09-20T19:35:07.295Z,1758396907.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.508071 s, deltaX: -0.600000 m, approachRate: -1.180938 m/s, rangeRepo size: 4 2025-09-20T19:35:07.297Z,1758396907.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.856723 m, bearing: 234.178223 deg, lat: 36.779280 deg, lon: -121.859587 deg, deltaT: 0.508071 s, deltaX: -0.597430 m, approachRate: -1.175879 m/s, posRepo size: 4 2025-09-20T19:35:07.298Z,1758396907.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.86 m. 2025-09-20T19:35:07.299Z,1758396907.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-09-20T19:35:07.303Z,1758396907.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-09-20T19:35:07.306Z,1758396907.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 8.991953 m, bearing: 232.619927 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 236.357795 deg, new cmd heading: 235.342124 deg. 2025-09-20T19:35:07.307Z,1758396907.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107495 target range: 9.856723 and range: 9.90 m. 2025-09-20T19:35:07.437Z,1758396907.437 [DAT](INFO): DAT read: Rx Time:19:35:09.6663 2025-09-20T19:35:07.437Z,1758396907.437 [DAT](INFO): Rx dataTimestamp_ set to:1758396907.437200 2025-09-20T19:35:07.439Z,1758396907.439 [DAT](INFO): DAT read: Bearing 41.3, 3.5 (Local) 2025-09-20T19:35:07.439Z,1758396907.439 [DAT](INFO): Local bearing/azimuth received: Bearing 41.3, 3.5 (Local) 2025-09-20T19:35:07.442Z,1758396907.442 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 2025-09-20T19:35:07.446Z,1758396907.446 [DAT](INFO): DAT read: 19:35:09.6663 LVL= 21232, 26721, 22882, 31347, AGC= 50, IDX= 501, 0.13,-0.009,-1.675, 0.414, 0.009, PHS= 0.083,-1.640, 0.361, RAW= 157.4, 12.7, CAL= 157.7, 14.3, ROT= 352.3, -14.3 2025-09-20T19:35:07.452Z,1758396907.452 [DAT](INFO): got valid direction response: 19:35:09.6663 LVL= 21232, 26721, 22882, 31347, AGC= 50, IDX= 501, 0.13,-0.009,-1.675, 0.414, 0.009, PHS= 0.083,-1.640, 0.361, RAW= 157.4, 12.7, CAL= 157.7, 14.3, ROT= 352.3, -14.3 2025-09-20T19:35:07.453Z,1758396907.453 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-09-20T19:35:07.454Z,1758396907.454 [DAT](INFO): direction in FSK: [0.960278,-0.129835,0.246999] 2025-09-20T19:35:07.454Z,1758396907.454 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:07.461Z,1758396907.461 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.605667 2025-09-20T19:35:07.660Z,1758396907.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.508304 s, deltaX: -0.299999 m, approachRate: -0.590196 m/s, rangeRepo size: 4 2025-09-20T19:35:07.662Z,1758396907.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.558035 m, bearing: 234.931298 deg, lat: 36.779280 deg, lon: -121.859588 deg, deltaT: 0.508304 s, deltaX: -0.298688 m, approachRate: -0.587617 m/s, posRepo size: 4 2025-09-20T19:35:07.663Z,1758396907.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.86 m. 2025-09-20T19:35:07.669Z,1758396907.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 8.764564 m, bearing: 232.275896 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 235.342118 deg, new cmd heading: 234.531668 deg. 2025-09-20T19:35:07.670Z,1758396907.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093350 target range: 9.856723 and range: 9.60 m. 2025-09-20T19:35:07.684Z,1758396907.684 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.828442 2025-09-20T19:35:07.937Z,1758396907.937 [DAT](INFO): DAT read: Rx Time:19:35:10.1660 2025-09-20T19:35:07.937Z,1758396907.937 [DAT](INFO): Rx dataTimestamp_ set to:1758396907.937006 2025-09-20T19:35:07.939Z,1758396907.939 [DAT](INFO): DAT read: Bearing 43.6, 4.5 (Local) 2025-09-20T19:35:07.939Z,1758396907.939 [DAT](INFO): Local bearing/azimuth received: Bearing 43.6, 4.5 (Local) 2025-09-20T19:35:07.941Z,1758396907.941 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.5 2025-09-20T19:35:07.946Z,1758396907.946 [DAT](INFO): DAT read: 19:35:10.1660 LVL= 19024, 28977, 29234, 32755, AGC= 52, IDX= 498, 0.15,-0.892,-2.556,-0.517,-0.839, PHS= 0.049,-1.673, 0.277, RAW= 156.2, 14.5, CAL= 156.7, 16.5, ROT= 353.3, -16.5 2025-09-20T19:35:07.947Z,1758396907.947 [DAT](INFO): got valid direction response: 19:35:10.1660 LVL= 19024, 28977, 29234, 32755, AGC= 52, IDX= 498, 0.15,-0.892,-2.556,-0.517,-0.839, PHS= 0.049,-1.673, 0.277, RAW= 156.2, 14.5, CAL= 156.7, 16.5, ROT= 353.3, -16.5 2025-09-20T19:35:07.953Z,1758396907.953 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-09-20T19:35:07.954Z,1758396907.954 [DAT](INFO): direction in FSK: [0.952272,-0.111867,0.284015] 2025-09-20T19:35:07.954Z,1758396907.954 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:07.967Z,1758396907.967 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.111427 2025-09-20T19:35:08.132Z,1758396908.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.499806 s, deltaX: -0.400001 m, approachRate: -0.800312 m/s, rangeRepo size: 4 2025-09-20T19:35:08.134Z,1758396908.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.159782 m, bearing: 235.998701 deg, lat: 36.779282 deg, lon: -121.859588 deg, deltaT: 1.008110 s, deltaX: -0.696940 m, approachRate: -0.691334 m/s, posRepo size: 4 2025-09-20T19:35:08.140Z,1758396908.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.16 m. 9.86 m. 2025-09-20T19:35:08.142Z,1758396908.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 8.458021 m, bearing: 231.737633 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 234.531675 deg, new cmd heading: 233.489037 deg. 2025-09-20T19:35:08.150Z,1758396908.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075152 target range: 9.856723 and range: 9.20 m. 2025-09-20T19:35:08.188Z,1758396908.188 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.332279 2025-09-20T19:35:08.441Z,1758396908.441 [DAT](INFO): DAT read: Rx Time:19:35:10.6659 2025-09-20T19:35:08.442Z,1758396908.442 [DAT](INFO): Rx dataTimestamp_ set to:1758396908.441260 2025-09-20T19:35:08.443Z,1758396908.443 [DAT](INFO): DAT read: Bearing 45.8, 8.1 (Local) 2025-09-20T19:35:08.444Z,1758396908.444 [DAT](INFO): Local bearing/azimuth received: Bearing 45.8, 8.1 (Local) 2025-09-20T19:35:08.446Z,1758396908.446 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.5 2025-09-20T19:35:08.450Z,1758396908.450 [DAT](INFO): DAT read: 19:35:10.6659 LVL= 25488, 28609, 32754, 32755, AGC= 55, IDX= 497, 0.26,-0.254,-1.940,-0.024,-0.210, PHS= 0.058,-1.685, 0.142, RAW= 152.3, 16.4, CAL= 152.9, 18.5, ROT= 357.1, -18.5 2025-09-20T19:35:08.451Z,1758396908.451 [DAT](INFO): got valid direction response: 19:35:10.6659 LVL= 25488, 28609, 32754, 32755, AGC= 55, IDX= 497, 0.26,-0.254,-1.940,-0.024,-0.210, PHS= 0.058,-1.685, 0.142, RAW= 152.3, 16.4, CAL= 152.9, 18.5, ROT= 357.1, -18.5 2025-09-20T19:35:08.452Z,1758396908.452 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-09-20T19:35:08.452Z,1758396908.452 [DAT](INFO): direction in FSK: [0.947109,-0.047979,0.317305] 2025-09-20T19:35:08.453Z,1758396908.453 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:08.456Z,1758396908.456 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.600708 2025-09-20T19:35:08.593Z,1758396908.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504254 s, deltaX: -0.200000 m, approachRate: -0.396625 m/s, rangeRepo size: 4 2025-09-20T19:35:08.596Z,1758396908.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.960670 m, bearing: 240.197294 deg, lat: 36.779284 deg, lon: -121.859588 deg, deltaT: 1.512364 s, deltaX: -0.896052 m, approachRate: -0.592485 m/s, posRepo size: 4 2025-09-20T19:35:08.597Z,1758396908.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.96 m. 9.86 m. 2025-09-20T19:35:08.612Z,1758396908.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 8.158510 m, bearing: 231.172585 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 233.489033 deg, new cmd heading: 232.444610 deg. 2025-09-20T19:35:08.616Z,1758396908.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.056924 target range: 9.856723 and range: 9.00 m. 2025-09-20T19:35:08.693Z,1758396908.693 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.836750 2025-09-20T19:35:08.945Z,1758396908.945 [DAT](INFO): DAT read: Rx Time:19:35:11.1656 2025-09-20T19:35:08.945Z,1758396908.945 [DAT](INFO): Rx dataTimestamp_ set to:1758396908.944829 2025-09-20T19:35:08.946Z,1758396908.946 [DAT](INFO): DAT read: Bearing 48.6, 10.9 (Local) 2025-09-20T19:35:08.947Z,1758396908.947 [DAT](INFO): Local bearing/azimuth received: Bearing 48.6, 10.9 (Local) 2025-09-20T19:35:08.949Z,1758396908.949 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.5 2025-09-20T19:35:08.954Z,1758396908.954 [DAT](INFO): DAT read: 19:35:11.1656 LVL= 19952, 23505, 29746, 32755, AGC= 55, IDX= 511,-0.49, 2.443, 0.761, 2.555, 2.493, PHS= 0.052,-1.687, 0.017, RAW= 149.0, 18.4, CAL= 149.8, 21.1, ROT= 0.2, -21.1 2025-09-20T19:35:08.955Z,1758396908.955 [DAT](INFO): got valid direction response: 19:35:11.1656 LVL= 19952, 23505, 29746, 32755, AGC= 55, IDX= 511,-0.49, 2.443, 0.761, 2.555, 2.493, PHS= 0.052,-1.687, 0.017, RAW= 149.0, 18.4, CAL= 149.8, 21.1, ROT= 0.2, -21.1 2025-09-20T19:35:08.955Z,1758396908.955 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-09-20T19:35:08.956Z,1758396908.956 [DAT](INFO): direction in FSK: [0.932948,0.003257,0.359997] 2025-09-20T19:35:08.956Z,1758396908.956 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:08.961Z,1758396908.961 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.104874 2025-09-20T19:35:09.093Z,1758396909.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503569 s, deltaX: -0.400000 m, approachRate: -0.794329 m/s, rangeRepo size: 4 2025-09-20T19:35:09.103Z,1758396909.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.562419 m, bearing: 243.688627 deg, lat: 36.779286 deg, lon: -121.859588 deg, deltaT: 2.015933 s, deltaX: -1.294304 m, approachRate: -0.642037 m/s, posRepo size: 4 2025-09-20T19:35:09.104Z,1758396909.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.56 m. 9.86 m. 2025-09-20T19:35:09.111Z,1758396909.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 7.862267 m, bearing: 230.559471 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 232.444615 deg, new cmd heading: 231.332407 deg. 2025-09-20T19:35:09.112Z,1758396909.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.037512 target range: 9.856723 and range: 8.60 m. 2025-09-20T19:35:09.196Z,1758396909.196 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.340324 2025-09-20T19:35:09.374Z,1758396909.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:09.377Z,1758396909.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:09.380Z,1758396909.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 7.675852 m, bearing: 230.150666 deg, approach rate: -0.654920 m/s, LOS rate: -1.471092 deg/s, cmd heading: 231.332415 deg, new cmd heading: 230.495014 deg. 2025-09-20T19:35:09.381Z,1758396909.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.022897 target range: 9.856723 and range: 8.60 m. 2025-09-20T19:35:09.450Z,1758396909.450 [DAT](INFO): DAT read: Rx Time:19:35:11.6655 2025-09-20T19:35:09.451Z,1758396909.451 [DAT](INFO): Rx dataTimestamp_ set to:1758396909.450281 2025-09-20T19:35:09.452Z,1758396909.452 [DAT](INFO): DAT read: Bearing 55.3, 12.7 (Local) 2025-09-20T19:35:09.452Z,1758396909.452 [DAT](INFO): Local bearing/azimuth received: Bearing 55.3, 12.7 (Local) 2025-09-20T19:35:09.454Z,1758396909.454 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-09-20T19:35:09.461Z,1758396909.461 [DAT](INFO): DAT read: 19:35:11.6655 LVL= 16048, 19729, 25426, 32755, AGC= 53, IDX= 510,-0.17, 1.654, 0.056, 1.627, 1.729, PHS= 0.026,-1.629,-0.146, RAW= 144.6, 21.4, CAL= 147.0, 27.4, ROT= 3.0, -27.4 2025-09-20T19:35:09.462Z,1758396909.462 [DAT](INFO): got valid direction response: 19:35:11.6655 LVL= 16048, 19729, 25426, 32755, AGC= 53, IDX= 510,-0.17, 1.654, 0.056, 1.627, 1.729, PHS= 0.026,-1.629,-0.146, RAW= 144.6, 21.4, CAL= 147.0, 27.4, ROT= 3.0, -27.4 2025-09-20T19:35:09.463Z,1758396909.463 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-09-20T19:35:09.465Z,1758396909.465 [DAT](INFO): direction in FSK: [0.886599,0.046465,0.460200] 2025-09-20T19:35:09.465Z,1758396909.465 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:09.482Z,1758396909.482 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.626156 2025-09-20T19:35:09.700Z,1758396909.700 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.844444 2025-09-20T19:35:09.843Z,1758396909.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.505452 s, deltaX: -0.200001 m, approachRate: -0.395687 m/s, rangeRepo size: 4 2025-09-20T19:35:09.845Z,1758396909.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.363320 m, bearing: 247.212869 deg, lat: 36.779291 deg, lon: -121.859591 deg, deltaT: 2.521385 s, deltaX: -1.493402 m, approachRate: -0.592295 m/s, posRepo size: 4 2025-09-20T19:35:09.846Z,1758396909.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.36 m. 9.86 m. 2025-09-20T19:35:09.860Z,1758396909.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 7.415772 m, bearing: 229.548511 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 230.495006 deg, new cmd heading: 229.511119 deg. 2025-09-20T19:35:09.861Z,1758396909.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.005725 target range: 9.856723 and range: 8.40 m. 2025-09-20T19:35:09.953Z,1758396909.953 [DAT](INFO): DAT read: Rx Time:19:35:12.1652 2025-09-20T19:35:09.953Z,1758396909.953 [DAT](INFO): Rx dataTimestamp_ set to:1758396909.952964 2025-09-20T19:35:09.955Z,1758396909.955 [DAT](INFO): DAT read: Bearing 55.5, 21.5 (Local) 2025-09-20T19:35:09.955Z,1758396909.955 [DAT](INFO): Local bearing/azimuth received: Bearing 55.5, 21.5 (Local) 2025-09-20T19:35:09.957Z,1758396909.957 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-09-20T19:35:09.962Z,1758396909.962 [DAT](INFO): DAT read: 19:35:12.1652 LVL= 13040, 19441, 21362, 31155, AGC= 53, IDX= 507, 0.04, 1.229,-0.381, 0.961, 1.193, PHS= 0.137,-1.530,-0.276, RAW= 136.2, 21.4, CAL= 137.3, 26.0, ROT= 12.7, -26.0 2025-09-20T19:35:09.963Z,1758396909.963 [DAT](INFO): got valid direction response: 19:35:12.1652 LVL= 13040, 19441, 21362, 31155, AGC= 53, IDX= 507, 0.04, 1.229,-0.381, 0.961, 1.193, PHS= 0.137,-1.530,-0.276, RAW= 136.2, 21.4, CAL= 137.3, 26.0, ROT= 12.7, -26.0 2025-09-20T19:35:09.963Z,1758396909.963 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-09-20T19:35:09.964Z,1758396909.964 [DAT](INFO): direction in FSK: [0.876805,0.197596,0.438371] 2025-09-20T19:35:09.964Z,1758396909.964 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:09.968Z,1758396909.968 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.112473 2025-09-20T19:35:10.204Z,1758396910.204 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.348148 2025-09-20T19:35:10.355Z,1758396910.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.502683 s, deltaX: -0.400000 m, approachRate: -0.795729 m/s, rangeRepo size: 4 2025-09-20T19:35:10.357Z,1758396910.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.965096 m, bearing: 257.913878 deg, lat: 36.779296 deg, lon: -121.859591 deg, deltaT: 3.024068 s, deltaX: -1.891627 m, approachRate: -0.625524 m/s, posRepo size: 4 2025-09-20T19:35:10.358Z,1758396910.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.97 m. 9.86 m. 2025-09-20T19:35:10.361Z,1758396910.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 7.084789 m, bearing: 228.757306 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 229.511131 deg, new cmd heading: 228.319487 deg. 2025-09-20T19:35:10.362Z,1758396910.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.984927 target range: 9.856723 and range: 8.00 m. 2025-09-20T19:35:10.457Z,1758396910.457 [DAT](INFO): DAT read: Rx Time:19:35:12.6652 2025-09-20T19:35:10.457Z,1758396910.457 [DAT](INFO): Rx dataTimestamp_ set to:1758396910.457027 2025-09-20T19:35:10.459Z,1758396910.459 [DAT](INFO): DAT read: Bearing 48.9, 34.6 (Local) 2025-09-20T19:35:10.459Z,1758396910.459 [DAT](INFO): Local bearing/azimuth received: Bearing 48.9, 34.6 (Local) 2025-09-20T19:35:10.461Z,1758396910.461 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.5 2025-09-20T19:35:10.466Z,1758396910.466 [DAT](INFO): DAT read: 19:35:12.6652 LVL= 10656, 20321, 18738, 27315, AGC= 52, IDX= 506, 0.22, 2.995, 1.250, 2.395, 2.669, PHS= 0.428,-1.374,-0.318, RAW= 125.7, 15.9, CAL= 125.3, 17.1, ROT= 24.7, -17.1 2025-09-20T19:35:10.467Z,1758396910.467 [DAT](INFO): got valid direction response: 19:35:12.6652 LVL= 10656, 20321, 18738, 27315, AGC= 52, IDX= 506, 0.22, 2.995, 1.250, 2.395, 2.669, PHS= 0.428,-1.374,-0.318, RAW= 125.7, 15.9, CAL= 125.3, 17.1, ROT= 24.7, -17.1 2025-09-20T19:35:10.467Z,1758396910.467 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-09-20T19:35:10.468Z,1758396910.468 [DAT](INFO): direction in FSK: [0.868346,0.399394,0.294040] 2025-09-20T19:35:10.468Z,1758396910.468 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:10.477Z,1758396910.477 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.620953 2025-09-20T19:35:10.711Z,1758396910.711 [DAT](INFO): DAT read: Rx Time:19:35:13.1649 2025-09-20T19:35:10.713Z,1758396910.713 [DAT](INFO): Rx dataTimestamp_ set to:1758396910.711810 2025-09-20T19:35:10.716Z,1758396910.716 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.859074 2025-09-20T19:35:10.824Z,1758396910.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:10.826Z,1758396910.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.965096 m, bearing: 269.465581 deg, lat: 36.779301 deg, lon: -121.859591 deg, deltaT: 3.528131 s, deltaX: -1.891627 m, approachRate: -0.536156 m/s, posRepo size: 4 2025-09-20T19:35:10.828Z,1758396910.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.97 m. 9.86 m. 2025-09-20T19:35:10.830Z,1758396910.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 6.814825 m, bearing: 228.062754 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 228.319482 deg, new cmd heading: 227.275217 deg. 2025-09-20T19:35:10.839Z,1758396910.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.966701 target range: 9.856723 and range: 8.00 m. 2025-09-20T19:35:10.964Z,1758396910.964 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-09-20T19:35:10.965Z,1758396910.965 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-09-20T19:35:10.967Z,1758396910.967 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.110733 2025-09-20T19:35:11.216Z,1758396911.216 [DAT](INFO): DAT read: Rx Time:19:35:13.6647 2025-09-20T19:35:11.218Z,1758396911.218 [DAT](INFO): Rx dataTimestamp_ set to:1758396911.216607 2025-09-20T19:35:11.220Z,1758396911.220 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.364048 2025-09-20T19:35:11.231Z,1758396911.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.505835 s, deltaX: -0.500000 m, approachRate: -0.988465 m/s, rangeRepo size: 4 2025-09-20T19:35:11.248Z,1758396911.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:11.259Z,1758396911.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 6.556052 m, bearing: 227.336792 deg, approach rate: -0.637004 m/s, LOS rate: -1.857536 deg/s, cmd heading: 227.275214 deg, new cmd heading: 225.766370 deg. 2025-09-20T19:35:11.260Z,1758396911.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.940367 target range: 9.856723 and range: 7.50 m. 2025-09-20T19:35:11.465Z,1758396911.465 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 2025-09-20T19:35:11.465Z,1758396911.465 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-09-20T19:35:11.466Z,1758396911.466 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.610367 2025-09-20T19:35:11.589Z,1758396911.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:11.592Z,1758396911.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.500566 s, deltaX: -0.300000 m, approachRate: -0.599322 m/s, rangeRepo size: 4 2025-09-20T19:35:11.593Z,1758396911.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:11.596Z,1758396911.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 6.319639 m, bearing: 226.633032 deg, approach rate: -0.654438 m/s, LOS rate: -2.020978 deg/s, cmd heading: 225.766371 deg, new cmd heading: 224.306550 deg. 2025-09-20T19:35:11.597Z,1758396911.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914888 target range: 9.856723 and range: 7.20 m. 2025-09-20T19:35:11.720Z,1758396911.720 [DAT](INFO): DAT read: Rx Time:19:35:14.1644 2025-09-20T19:35:11.721Z,1758396911.721 [DAT](INFO): Rx dataTimestamp_ set to:1758396911.720665 2025-09-20T19:35:11.722Z,1758396911.722 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 2025-09-20T19:35:11.723Z,1758396911.723 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-09-20T19:35:11.724Z,1758396911.724 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.867977 2025-09-20T19:35:11.811Z,1758396911.811 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:35:11.968Z,1758396911.968 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.112339 2025-09-20T19:35:12.048Z,1758396912.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.257237 s, deltaX: -0.400000 m, approachRate: -1.554985 m/s, rangeRepo size: 4 2025-09-20T19:35:12.049Z,1758396912.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:12.056Z,1758396912.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 6.059248 m, bearing: 225.767395 deg, approach rate: -0.593560 m/s, LOS rate: -2.057934 deg/s, cmd heading: 224.306554 deg, new cmd heading: 222.501545 deg. 2025-09-20T19:35:12.057Z,1758396912.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883384 target range: 9.856723 and range: 6.80 m. 2025-09-20T19:35:12.221Z,1758396912.221 [DAT](INFO): DAT read: Rx Time:19:35:14.6647 2025-09-20T19:35:12.221Z,1758396912.221 [DAT](INFO): Rx dataTimestamp_ set to:1758396912.220863 2025-09-20T19:35:12.222Z,1758396912.222 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 2025-09-20T19:35:12.223Z,1758396912.223 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-09-20T19:35:12.224Z,1758396912.224 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.368130 2025-09-20T19:35:12.398Z,1758396912.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.500198 s, deltaX: 0.400000 m, approachRate: 0.799683 m/s, rangeRepo size: 4 2025-09-20T19:35:12.398Z,1758396912.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:12.401Z,1758396912.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 5.834367 m, bearing: 224.973158 deg, approach rate: -0.612652 m/s, LOS rate: -2.247102 deg/s, cmd heading: 222.501540 deg, new cmd heading: 220.852349 deg. 2025-09-20T19:35:12.402Z,1758396912.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.854601 target range: 9.856723 and range: 7.20 m. 2025-09-20T19:35:12.474Z,1758396912.474 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.617977 2025-09-20T19:35:12.724Z,1758396912.724 [DAT](INFO): DAT read: Rx Time:19:35:15.1641 2025-09-20T19:35:12.725Z,1758396912.725 [DAT](INFO): Rx dataTimestamp_ set to:1758396912.724412 2025-09-20T19:35:12.726Z,1758396912.726 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 2025-09-20T19:35:12.726Z,1758396912.726 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-09-20T19:35:12.727Z,1758396912.727 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.871708 2025-09-20T19:35:12.815Z,1758396912.815 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:35:12.833Z,1758396912.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503549 s, deltaX: -0.900000 m, approachRate: -1.787313 m/s, rangeRepo size: 4 2025-09-20T19:35:12.834Z,1758396912.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:12.841Z,1758396912.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 5.582761 m, bearing: 224.029951 deg, approach rate: -0.577213 m/s, LOS rate: -2.261244 deg/s, cmd heading: 220.852350 deg, new cmd heading: 218.881784 deg. 2025-09-20T19:35:12.842Z,1758396912.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.820208 target range: 9.856723 and range: 6.30 m. 2025-09-20T19:35:12.979Z,1758396912.979 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.122608 2025-09-20T19:35:13.228Z,1758396913.228 [DAT](INFO): DAT read: Rx Time:19:35:15.6641 2025-09-20T19:35:13.229Z,1758396913.229 [DAT](INFO): Rx dataTimestamp_ set to:1758396913.228424 2025-09-20T19:35:13.230Z,1758396913.230 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.3 2025-09-20T19:35:13.230Z,1758396913.230 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-09-20T19:35:13.244Z,1758396913.244 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.387825 2025-09-20T19:35:13.256Z,1758396913.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:13.257Z,1758396913.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:13.264Z,1758396913.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 5.332023 m, bearing: 223.025461 deg, approach rate: -0.599940 m/s, LOS rate: -2.516330 deg/s, cmd heading: 218.881786 deg, new cmd heading: 216.779385 deg. 2025-09-20T19:35:13.265Z,1758396913.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783514 target range: 9.856723 and range: 6.30 m. 2025-09-20T19:35:13.480Z,1758396913.480 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.624306 2025-09-20T19:35:13.617Z,1758396913.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:13.620Z,1758396913.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:13.622Z,1758396913.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 5.101781 m, bearing: 222.042265 deg, approach rate: -0.624814 m/s, LOS rate: -2.788398 deg/s, cmd heading: 216.779385 deg, new cmd heading: 214.725233 deg. 2025-09-20T19:35:13.623Z,1758396913.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747662 target range: 9.856723 and range: 6.30 m. 2025-09-20T19:35:13.732Z,1758396913.732 [DAT](INFO): DAT read: Rx Time:19:35:16.1638 2025-09-20T19:35:13.733Z,1758396913.733 [DAT](INFO): Rx dataTimestamp_ set to:1758396913.732428 2025-09-20T19:35:13.735Z,1758396913.735 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.2 2025-09-20T19:35:13.736Z,1758396913.736 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-09-20T19:35:13.737Z,1758396913.737 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.881115 2025-09-20T19:35:13.989Z,1758396913.989 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.132488 2025-09-20T19:35:14.072Z,1758396914.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504004 s, deltaX: -0.300000 m, approachRate: -0.595234 m/s, rangeRepo size: 4 2025-09-20T19:35:14.073Z,1758396914.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:14.076Z,1758396914.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 4.825945 m, bearing: 220.765670 deg, approach rate: -0.609582 m/s, LOS rate: -2.982209 deg/s, cmd heading: 214.725233 deg, new cmd heading: 212.028328 deg. 2025-09-20T19:35:14.077Z,1758396914.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.700593 target range: 9.856723 and range: 6.00 m. 2025-09-20T19:35:14.237Z,1758396914.237 [DAT](INFO): DAT read: Rx Time:19:35:16.6638 2025-09-20T19:35:14.239Z,1758396914.239 [DAT](INFO): Rx dataTimestamp_ set to:1758396914.237664 2025-09-20T19:35:14.244Z,1758396914.244 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 2025-09-20T19:35:14.244Z,1758396914.244 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-09-20T19:35:14.245Z,1758396914.245 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.389599 2025-09-20T19:35:14.472Z,1758396914.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.505236 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:14.473Z,1758396914.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:14.476Z,1758396914.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 4.583736 m, bearing: 219.551155 deg, approach rate: -0.607233 m/s, LOS rate: -3.205521 deg/s, cmd heading: 212.028333 deg, new cmd heading: 209.472838 deg. 2025-09-20T19:35:14.477Z,1758396914.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.655991 target range: 9.856723 and range: 6.00 m. 2025-09-20T19:35:14.488Z,1758396914.488 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.632275 2025-09-20T19:35:14.740Z,1758396914.740 [DAT](INFO): DAT read: Rx Time:19:35:17.1638 2025-09-20T19:35:14.741Z,1758396914.741 [DAT](INFO): Rx dataTimestamp_ set to:1758396914.740348 2025-09-20T19:35:14.742Z,1758396914.742 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 2025-09-20T19:35:14.742Z,1758396914.742 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-09-20T19:35:14.743Z,1758396914.743 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.887627 2025-09-20T19:35:14.888Z,1758396914.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.502684 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:14.889Z,1758396914.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.00 m. 2025-09-20T19:35:14.889Z,1758396914.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:14.892Z,1758396914.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 4.333578 m, bearing: 218.140578 deg, approach rate: -0.601394 m/s, LOS rate: -3.586494 deg/s, cmd heading: 209.472831 deg, new cmd heading: 206.491819 deg. 2025-09-20T19:35:14.893Z,1758396914.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603962 target range: 9.856723 and range: 6.00 m. 2025-09-20T19:35:14.996Z,1758396914.996 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.138882 2025-09-20T19:35:15.244Z,1758396915.244 [DAT](INFO): DAT read: Rx Time:19:35:17.6638 2025-09-20T19:35:15.245Z,1758396915.245 [DAT](INFO): Rx dataTimestamp_ set to:1758396915.244237 2025-09-20T19:35:15.246Z,1758396915.246 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.1 2025-09-20T19:35:15.246Z,1758396915.246 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-09-20T19:35:15.252Z,1758396915.252 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.396202 2025-09-20T19:35:15.347Z,1758396915.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:15.348Z,1758396915.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.00 m. 2025-09-20T19:35:15.349Z,1758396915.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:15.351Z,1758396915.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 4.062438 m, bearing: 216.433429 deg, approach rate: -0.589630 m/s, LOS rate: -3.959613 deg/s, cmd heading: 206.491823 deg, new cmd heading: 202.855074 deg. 2025-09-20T19:35:15.352Z,1758396915.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540489 target range: 9.856723 and range: 6.00 m. 2025-09-20T19:35:15.496Z,1758396915.496 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.640266 2025-09-20T19:35:15.685Z,1758396915.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:15.725Z,1758396915.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.00 m. 2025-09-20T19:35:15.738Z,1758396915.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:15.753Z,1758396915.753 [DAT](INFO): DAT read: Rx Time:19:35:18.1653 2025-09-20T19:35:15.754Z,1758396915.754 [DAT](INFO): Rx dataTimestamp_ set to:1758396915.753486 2025-09-20T19:35:15.759Z,1758396915.759 [DAT](INFO): DAT read: Bearing 345.4, 18.1 (Local) 2025-09-20T19:35:15.760Z,1758396915.760 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, 18.1 (Local) 2025-09-20T19:35:15.768Z,1758396915.768 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 2025-09-20T19:35:15.772Z,1758396915.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 3.862752 m, bearing: 215.055541 deg, approach rate: -0.586255 m/s, LOS rate: -4.254044 deg/s, cmd heading: 202.855075 deg, new cmd heading: 199.959586 deg. 2025-09-20T19:35:15.774Z,1758396915.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489953 target range: 9.856723 and range: 6.00 m. 2025-09-20T19:35:15.781Z,1758396915.781 [DAT](INFO): DAT read: 19:35:18.1653 LVL= 29936, 21937, 30002, 20339, AGC= 59, IDX= 8, 0.49, 1.895, 0.561, 1.861, 0.683, PHS= 1.314,-0.078, 1.134, RAW= 143.2, -32.6, CAL= 144.3, -32.9, ROT= 5.7, 32.9 2025-09-20T19:35:15.791Z,1758396915.791 [DAT](INFO): got valid direction response: 19:35:18.1653 LVL= 29936, 21937, 30002, 20339, AGC= 59, IDX= 8, 0.49, 1.895, 0.561, 1.861, 0.683, PHS= 1.314,-0.078, 1.134, RAW= 143.2, -32.6, CAL= 144.3, -32.9, ROT= 5.7, 32.9 2025-09-20T19:35:15.792Z,1758396915.792 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-09-20T19:35:15.793Z,1758396915.793 [DAT](INFO): direction in FSK: [0.835468,0.083391,-0.543174] 2025-09-20T19:35:15.793Z,1758396915.793 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:15.823Z,1758396915.823 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.967445 2025-09-20T19:35:16.004Z,1758396916.004 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.147839 2025-09-20T19:35:16.183Z,1758396916.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.509249 s, deltaX: 2.100000 m, approachRate: 4.123720 m/s, rangeRepo size: 4 2025-09-20T19:35:16.185Z,1758396916.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.064475 m, bearing: 235.923164 deg, lat: 36.779301 deg, lon: -121.859597 deg, deltaT: 8.824590 s, deltaX: -1.792248 m, approachRate: -0.203097 m/s, posRepo size: 4 2025-09-20T19:35:16.185Z,1758396916.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.10 m. 2025-09-20T19:35:16.186Z,1758396916.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.06 m. 9.86 m. 2025-09-20T19:35:16.189Z,1758396916.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 3.580731 m, bearing: 212.881232 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 199.959580 deg, new cmd heading: 198.858167 deg. 2025-09-20T19:35:16.190Z,1758396916.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.470730 target range: 9.856723 and range: 8.10 m. 2025-09-20T19:35:16.260Z,1758396916.260 [DAT](INFO): DAT read: Rx Time:19:35:18.6652 2025-09-20T19:35:16.261Z,1758396916.261 [DAT](INFO): Rx dataTimestamp_ set to:1758396916.260307 2025-09-20T19:35:16.265Z,1758396916.265 [DAT](INFO): DAT read: Bearing 347.1, 19.8 (Local) 2025-09-20T19:35:16.266Z,1758396916.266 [DAT](INFO): Local bearing/azimuth received: Bearing 347.1, 19.8 (Local) 2025-09-20T19:35:16.268Z,1758396916.268 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.1 2025-09-20T19:35:16.307Z,1758396916.307 [DAT](INFO): DAT read: 19:35:18.6652 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.34,-1.311,-2.440,-1.357,-2.256, PHS= 1.046,-0.139, 0.855, RAW= 141.3, -29.5, CAL= 142.3, -30.3, ROT= 7.7, 30.3 2025-09-20T19:35:16.308Z,1758396916.308 [DAT](INFO): got valid direction response: 19:35:18.6652 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.34,-1.311,-2.440,-1.357,-2.256, PHS= 1.046,-0.139, 0.855, RAW= 141.3, -29.5, CAL= 142.3, -30.3, ROT= 7.7, 30.3 2025-09-20T19:35:16.308Z,1758396916.308 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-09-20T19:35:16.309Z,1758396916.309 [DAT](INFO): direction in FSK: [0.855610,0.115683,-0.504528] 2025-09-20T19:35:16.309Z,1758396916.309 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:16.322Z,1758396916.322 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.466335 2025-09-20T19:35:16.504Z,1758396916.504 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.648399 2025-09-20T19:35:16.606Z,1758396916.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.506821 s, deltaX: -0.100000 m, approachRate: -0.197309 m/s, rangeRepo size: 4 2025-09-20T19:35:16.617Z,1758396916.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.964892 m, bearing: 238.070142 deg, lat: 36.779301 deg, lon: -121.859610 deg, deltaT: 9.331411 s, deltaX: -1.891831 m, approachRate: -0.202738 m/s, posRepo size: 4 2025-09-20T19:35:16.618Z,1758396916.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.86 m. 2025-09-20T19:35:16.629Z,1758396916.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 3.349041 m, bearing: 210.780258 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 198.858171 deg, new cmd heading: 197.915172 deg. 2025-09-20T19:35:16.630Z,1758396916.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.454271 target range: 9.856723 and range: 8.00 m. 2025-09-20T19:35:16.760Z,1758396916.760 [DAT](INFO): DAT read: Rx Time:19:35:19.1632 2025-09-20T19:35:16.761Z,1758396916.761 [DAT](INFO): Rx dataTimestamp_ set to:1758396916.760590 2025-09-20T19:35:16.766Z,1758396916.766 [DAT](INFO): DAT read: Bearing 71.9, -2.8 (Local) 2025-09-20T19:35:16.766Z,1758396916.766 [DAT](INFO): Local bearing/azimuth received: Bearing 71.9, -2.8 (Local) 2025-09-20T19:35:16.769Z,1758396916.769 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.3 2025-09-20T19:35:16.773Z,1758396916.773 [DAT](INFO): DAT read: 19:35:19.1632 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 485, 0.10, 1.981, 0.738, 2.316, 3.080, PHS=-0.998,-2.297,-0.808, RAW= 156.7, 45.9, CAL= 159.5, 55.3, ROT= 350.5, -55.3 2025-09-20T19:35:16.784Z,1758396916.784 [DAT](INFO): got valid direction response: 19:35:19.1632 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 485, 0.10, 1.981, 0.738, 2.316, 3.080, PHS=-0.998,-2.297,-0.808, RAW= 156.7, 45.9, CAL= 159.5, 55.3, ROT= 350.5, -55.3 2025-09-20T19:35:16.784Z,1758396916.784 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-09-20T19:35:16.786Z,1758396916.786 [DAT](INFO): direction in FSK: [0.561472,-0.093958,0.822144] 2025-09-20T19:35:16.786Z,1758396916.786 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:16.810Z,1758396916.810 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.954193 2025-09-20T19:35:17.013Z,1758396917.013 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.155815 2025-09-20T19:35:17.038Z,1758396917.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 5.100000 m, deltaT: 0.500283 s, deltaX: -2.900000 m, approachRate: -5.796719 m/s, rangeRepo size: 4 2025-09-20T19:35:17.052Z,1758396917.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:17.059Z,1758396917.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 3.135855 m, bearing: 208.672412 deg, approach rate: -0.504555 m/s, LOS rate: -5.326663 deg/s, cmd heading: 197.915168 deg, new cmd heading: 193.423119 deg. 2025-09-20T19:35:17.060Z,1758396917.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.375870 target range: 9.856723 and range: 8.00 m. 2025-09-20T19:35:17.260Z,1758396917.260 [DAT](INFO): DAT read: Rx Time:19:35:19.6632 2025-09-20T19:35:17.261Z,1758396917.261 [DAT](INFO): Rx dataTimestamp_ set to:1758396917.260346 2025-09-20T19:35:17.262Z,1758396917.262 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.1 2025-09-20T19:35:17.262Z,1758396917.262 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-09-20T19:35:17.263Z,1758396917.263 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.407589 2025-09-20T19:35:17.409Z,1758396917.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 1.000039 s, deltaX: -2.900000 m, approachRate: -2.899887 m/s, rangeRepo size: 4 2025-09-20T19:35:17.410Z,1758396917.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:17.413Z,1758396917.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 2.894599 m, bearing: 205.911179 deg, approach rate: -0.634538 m/s, LOS rate: -7.864703 deg/s, cmd heading: 193.423116 deg, new cmd heading: 187.464264 deg. 2025-09-20T19:35:17.414Z,1758396917.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271869 target range: 9.856723 and range: 5.10 m. 2025-09-20T19:35:17.513Z,1758396917.513 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.657051 2025-09-20T19:35:17.765Z,1758396917.765 [DAT](INFO): DAT read: Rx Time:19:35:20.1631 2025-09-20T19:35:17.766Z,1758396917.766 [DAT](INFO): Rx dataTimestamp_ set to:1758396917.765858 2025-09-20T19:35:17.768Z,1758396917.768 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.0 2025-09-20T19:35:17.769Z,1758396917.769 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-09-20T19:35:17.770Z,1758396917.770 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.914070 2025-09-20T19:35:17.876Z,1758396917.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:17.879Z,1758396917.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.505512 s, deltaX: -0.100000 m, approachRate: -0.197819 m/s, rangeRepo size: 4 2025-09-20T19:35:17.880Z,1758396917.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:17.882Z,1758396917.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 2.636592 m, bearing: 202.669609 deg, approach rate: -0.549464 m/s, LOS rate: -7.574902 deg/s, cmd heading: 187.464268 deg, new cmd heading: 180.386730 deg. 2025-09-20T19:35:17.884Z,1758396917.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.148342 target range: 9.856723 and range: 5.00 m. 2025-09-20T19:35:18.021Z,1758396918.021 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.164120 2025-09-20T19:35:18.269Z,1758396918.269 [DAT](INFO): DAT read: Rx Time:19:35:20.6632 2025-09-20T19:35:18.269Z,1758396918.269 [DAT](INFO): Rx dataTimestamp_ set to:1758396918.268784 2025-09-20T19:35:18.270Z,1758396918.270 [DAT](INFO): DAT read: Bearing 134.0, -39.4 (Local) 2025-09-20T19:35:18.271Z,1758396918.271 [DAT](INFO): Local bearing/azimuth received: Bearing 134.0, -39.4 (Local) 2025-09-20T19:35:18.273Z,1758396918.273 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.0 2025-09-20T19:35:18.277Z,1758396918.277 [DAT](INFO): DAT read: 19:35:20.6632 LVL= 17136, 32753, 17826, 32211, AGC= 51, IDX= 502, 0.11, 1.084, 2.714, 2.487,-3.103, PHS=-1.995,-0.422,-0.738, RAW= 281.0, 37.7, CAL= 284.2, 44.5, ROT= 225.8, -44.5 2025-09-20T19:35:18.278Z,1758396918.278 [DAT](INFO): got valid direction response: 19:35:20.6632 LVL= 17136, 32753, 17826, 32211, AGC= 51, IDX= 502, 0.11, 1.084, 2.714, 2.487,-3.103, PHS=-1.995,-0.422,-0.738, RAW= 281.0, 37.7, CAL= 284.2, 44.5, ROT= 225.8, -44.5 2025-09-20T19:35:18.283Z,1758396918.283 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-09-20T19:35:18.284Z,1758396918.284 [DAT](INFO): direction in FSK: [-0.497253,-0.511337,0.700909] 2025-09-20T19:35:18.285Z,1758396918.285 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:18.288Z,1758396918.288 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.432556 2025-09-20T19:35:18.447Z,1758396918.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.502926 s, deltaX: 0.100000 m, approachRate: 0.198836 m/s, rangeRepo size: 4 2025-09-20T19:35:18.450Z,1758396918.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.077583 m, bearing: 85.334465 deg, lat: 36.779293 deg, lon: -121.859610 deg, deltaT: 11.339888 s, deltaX: -4.779140 m, approachRate: -0.421445 m/s, posRepo size: 4 2025-09-20T19:35:18.451Z,1758396918.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.08 m. 9.86 m. 2025-09-20T19:35:18.457Z,1758396918.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 2.345242 m, bearing: 198.450123 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 180.386730 deg, new cmd heading: 179.131320 deg. 2025-09-20T19:35:18.458Z,1758396918.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.126431 target range: 9.856723 and range: 5.10 m. 2025-09-20T19:35:18.521Z,1758396918.521 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.665234 2025-09-20T19:35:18.773Z,1758396918.773 [DAT](INFO): DAT read: Rx Time:19:35:21.1629 2025-09-20T19:35:18.774Z,1758396918.774 [DAT](INFO): Rx dataTimestamp_ set to:1758396918.773668 2025-09-20T19:35:18.776Z,1758396918.776 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:18.777Z,1758396918.777 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-09-20T19:35:18.778Z,1758396918.778 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.922031 2025-09-20T19:35:18.913Z,1758396918.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.504884 s, deltaX: -0.400000 m, approachRate: -0.792261 m/s, rangeRepo size: 4 2025-09-20T19:35:18.914Z,1758396918.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:18.917Z,1758396918.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 2.092698 m, bearing: 193.975133 deg, approach rate: -0.536861 m/s, LOS rate: -10.650178 deg/s, cmd heading: 179.131314 deg, new cmd heading: 169.211767 deg. 2025-09-20T19:35:18.918Z,1758396918.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.953302 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:19.028Z,1758396919.028 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.170929 2025-09-20T19:35:19.276Z,1758396919.276 [DAT](INFO): DAT read: Rx Time:19:35:21.6629 2025-09-20T19:35:19.277Z,1758396919.277 [DAT](INFO): Rx dataTimestamp_ set to:1758396919.276290 2025-09-20T19:35:19.278Z,1758396919.278 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:19.278Z,1758396919.278 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-09-20T19:35:19.280Z,1758396919.280 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.424141 2025-09-20T19:35:19.414Z,1758396919.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.502622 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:19.432Z,1758396919.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:19.434Z,1758396919.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.880230 m, bearing: 190.820978 deg, approach rate: -0.423865 m/s, LOS rate: -6.999927 deg/s, cmd heading: 169.211762 deg, new cmd heading: 162.228932 deg. 2025-09-20T19:35:19.439Z,1758396919.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831429 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:19.529Z,1758396919.529 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.673065 2025-09-20T19:35:19.781Z,1758396919.781 [DAT](INFO): DAT read: Rx Time:19:35:22.1628 2025-09-20T19:35:19.782Z,1758396919.782 [DAT](INFO): Rx dataTimestamp_ set to:1758396919.781286 2025-09-20T19:35:19.783Z,1758396919.783 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0 2025-09-20T19:35:19.784Z,1758396919.784 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-09-20T19:35:19.786Z,1758396919.786 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.929771 2025-09-20T19:35:19.841Z,1758396919.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.504996 s, deltaX: -0.200000 m, approachRate: -0.396042 m/s, rangeRepo size: 4 2025-09-20T19:35:19.841Z,1758396919.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:19.855Z,1758396919.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.706132 m, bearing: 187.906414 deg, approach rate: -0.408471 m/s, LOS rate: -7.532705 deg/s, cmd heading: 162.228932 deg, new cmd heading: 155.834435 deg. 2025-09-20T19:35:19.856Z,1758396919.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719824 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:20.035Z,1758396920.035 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.178558 2025-09-20T19:35:20.241Z,1758396920.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:20.255Z,1758396920.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:20.258Z,1758396920.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.579091 m, bearing: 185.312770 deg, approach rate: -0.315280 m/s, LOS rate: -6.952189 deg/s, cmd heading: 155.834441 deg, new cmd heading: 150.249497 deg. 2025-09-20T19:35:20.263Z,1758396920.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622348 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:20.284Z,1758396920.284 [DAT](INFO): DAT read: Rx Time:19:35:22.6629 2025-09-20T19:35:20.285Z,1758396920.285 [DAT](INFO): Rx dataTimestamp_ set to:1758396920.284427 2025-09-20T19:35:20.286Z,1758396920.286 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:20.286Z,1758396920.286 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-09-20T19:35:20.292Z,1758396920.292 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.436676 2025-09-20T19:35:20.537Z,1758396920.537 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.680779 2025-09-20T19:35:20.613Z,1758396920.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503141 s, deltaX: 0.200000 m, approachRate: 0.397503 m/s, rangeRepo size: 4 2025-09-20T19:35:20.614Z,1758396920.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m. 2025-09-20T19:35:20.615Z,1758396920.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:20.617Z,1758396920.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.455560 m, bearing: 182.410673 deg, approach rate: -0.333949 m/s, LOS rate: -8.507604 deg/s, cmd heading: 150.249490 deg, new cmd heading: 143.980531 deg. 2025-09-20T19:35:20.618Z,1758396920.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512934 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:20.789Z,1758396920.789 [DAT](INFO): DAT read: Rx Time:19:35:23.1629 2025-09-20T19:35:20.790Z,1758396920.790 [DAT](INFO): Rx dataTimestamp_ set to:1758396920.788965 2025-09-20T19:35:20.792Z,1758396920.792 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:20.793Z,1758396920.793 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-09-20T19:35:20.794Z,1758396920.794 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.938038 2025-09-20T19:35:21.006Z,1758396921.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.504538 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:21.012Z,1758396921.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:21.041Z,1758396921.041 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.184830 2025-09-20T19:35:21.098Z,1758396921.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.329326 m, bearing: 178.867000 deg, approach rate: -0.322419 m/s, LOS rate: -9.904149 deg/s, cmd heading: 143.980538 deg, new cmd heading: 136.271964 deg. 2025-09-20T19:35:21.105Z,1758396921.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378394 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:21.296Z,1758396921.296 [DAT](INFO): DAT read: Rx Time:19:35:23.6630 2025-09-20T19:35:21.297Z,1758396921.297 [DAT](INFO): Rx dataTimestamp_ set to:1758396921.296409 2025-09-20T19:35:21.298Z,1758396921.298 [DAT](INFO): DAT read: Bearing 91.9, -10.1 (Local) 2025-09-20T19:35:21.298Z,1758396921.298 [DAT](INFO): Local bearing/azimuth received: Bearing 91.9, -10.1 (Local) 2025-09-20T19:35:21.300Z,1758396921.300 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.0 2025-09-20T19:35:21.305Z,1758396921.305 [DAT](INFO): DAT read: 19:35:23.6630 LVL= 15664, 18817, 20226, 28659, AGC= 51, IDX= 502,-0.29,-0.092, 0.157, 0.479, 1.509, PHS=-1.499,-1.308,-1.074, RAW= 236.7, 75.0, CAL= 237.7, 77.6, ROT= 272.3, -77.6 2025-09-20T19:35:21.307Z,1758396921.307 [DAT](INFO): got valid direction response: 19:35:23.6630 LVL= 15664, 18817, 20226, 28659, AGC= 51, IDX= 502,-0.29,-0.092, 0.157, 0.479, 1.509, PHS=-1.499,-1.308,-1.074, RAW= 236.7, 75.0, CAL= 237.7, 77.6, ROT= 272.3, -77.6 2025-09-20T19:35:21.308Z,1758396921.308 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-09-20T19:35:21.309Z,1758396921.309 [DAT](INFO): direction in FSK: [0.008618,-0.214562,0.976672] 2025-09-20T19:35:21.310Z,1758396921.310 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:21.318Z,1758396921.318 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.461735 2025-09-20T19:35:21.506Z,1758396921.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.507444 s, deltaX: 0.100000 m, approachRate: 0.197067 m/s, rangeRepo size: 4 2025-09-20T19:35:21.513Z,1758396921.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.778720 m, bearing: 110.765372 deg, lat: 36.779286 deg, lon: -121.859587 deg, deltaT: 14.367513 s, deltaX: -5.078002 m, approachRate: -0.353436 m/s, posRepo size: 4 2025-09-20T19:35:21.519Z,1758396921.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.86 m. 2025-09-20T19:35:21.529Z,1758396921.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.184168 m, bearing: 173.689796 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 136.271959 deg, new cmd heading: 135.160002 deg. 2025-09-20T19:35:21.530Z,1758396921.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358987 target range: 9.856723 and range: 4.80 m. 2025-09-20T19:35:21.544Z,1758396921.544 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.688328 2025-09-20T19:35:21.798Z,1758396921.798 [DAT](INFO): DAT read: Rx Time:19:35:24.1629 2025-09-20T19:35:21.798Z,1758396921.798 [DAT](INFO): Rx dataTimestamp_ set to:1758396921.797865 2025-09-20T19:35:21.800Z,1758396921.800 [DAT](INFO): DAT read: Bearing 99.7, -20.5 (Local) 2025-09-20T19:35:21.800Z,1758396921.800 [DAT](INFO): Local bearing/azimuth received: Bearing 99.7, -20.5 (Local) 2025-09-20T19:35:21.804Z,1758396921.804 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:21.810Z,1758396921.810 [DAT](INFO): DAT read: 19:35:24.1629 LVL= 15504, 24353, 15570, 29043, AGC= 50, IDX= 501,-0.03,-3.104,-2.284,-2.017,-0.908, PHS=-2.094,-1.331,-1.153, RAW= 259.8, 61.9, CAL= 261.0, 66.3, ROT= 249.0, -66.3 2025-09-20T19:35:21.819Z,1758396921.819 [DAT](INFO): got valid direction response: 19:35:24.1629 LVL= 15504, 24353, 15570, 29043, AGC= 50, IDX= 501,-0.03,-3.104,-2.284,-2.017,-0.908, PHS=-2.094,-1.331,-1.153, RAW= 259.8, 61.9, CAL= 261.0, 66.3, ROT= 249.0, -66.3 2025-09-20T19:35:21.820Z,1758396921.820 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-09-20T19:35:21.821Z,1758396921.821 [DAT](INFO): direction in FSK: [-0.144045,-0.375251,0.915663] 2025-09-20T19:35:21.821Z,1758396921.821 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:21.825Z,1758396921.825 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.968716 2025-09-20T19:35:21.918Z,1758396921.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.501456 s, deltaX: -0.100000 m, approachRate: -0.199420 m/s, rangeRepo size: 4 2025-09-20T19:35:21.928Z,1758396921.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.679163 m, bearing: 100.482407 deg, lat: 36.779286 deg, lon: -121.859575 deg, deltaT: 14.868969 s, deltaX: -5.177559 m, approachRate: -0.348212 m/s, posRepo size: 4 2025-09-20T19:35:21.929Z,1758396921.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.86 m. 2025-09-20T19:35:21.936Z,1758396921.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.070363 m, bearing: 168.359406 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 135.160004 deg, new cmd heading: 134.240804 deg. 2025-09-20T19:35:21.937Z,1758396921.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342944 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:22.052Z,1758396922.052 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.195503 2025-09-20T19:35:22.309Z,1758396922.309 [DAT](INFO): DAT read: Rx Time:19:35:24.6630 2025-09-20T19:35:22.310Z,1758396922.310 [DAT](INFO): Rx dataTimestamp_ set to:1758396922.309526 2025-09-20T19:35:22.311Z,1758396922.311 [DAT](INFO): DAT read: Bearing 53.4, 12.5 (Local) 2025-09-20T19:35:22.311Z,1758396922.311 [DAT](INFO): Local bearing/azimuth received: Bearing 53.4, 12.5 (Local) 2025-09-20T19:35:22.313Z,1758396922.313 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.0 2025-09-20T19:35:22.322Z,1758396922.322 [DAT](INFO): DAT read: 19:35:24.6630 LVL= 22512, 28545, 17906, 23363, AGC= 50, IDX= 503,-0.13,-1.784, 3.052,-2.086,-1.260, PHS=-0.422,-1.926,-0.870, RAW= 133.1, 40.4, CAL= 138.0, 50.2, ROT= 12.0, -50.2 2025-09-20T19:35:22.323Z,1758396922.323 [DAT](INFO): got valid direction response: 19:35:24.6630 LVL= 22512, 28545, 17906, 23363, AGC= 50, IDX= 503,-0.13,-1.784, 3.052,-2.086,-1.260, PHS=-0.422,-1.926,-0.870, RAW= 133.1, 40.4, CAL= 138.0, 50.2, ROT= 12.0, -50.2 2025-09-20T19:35:22.323Z,1758396922.323 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-09-20T19:35:22.324Z,1758396922.324 [DAT](INFO): direction in FSK: [0.626122,0.133086,0.768284] 2025-09-20T19:35:22.324Z,1758396922.324 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:22.328Z,1758396922.328 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.472355 2025-09-20T19:35:22.345Z,1758396922.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.511661 s, deltaX: 0.100000 m, approachRate: 0.195443 m/s, rangeRepo size: 4 2025-09-20T19:35:22.352Z,1758396922.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.778784 m, bearing: 227.905609 deg, lat: 36.779286 deg, lon: -121.859575 deg, deltaT: 15.380630 s, deltaX: -5.077939 m, approachRate: -0.330152 m/s, posRepo size: 4 2025-09-20T19:35:22.353Z,1758396922.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.86 m. 2025-09-20T19:35:22.359Z,1758396922.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.041946 m, bearing: 165.488541 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 134.240797 deg, new cmd heading: 133.288628 deg. 2025-09-20T19:35:22.360Z,1758396922.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326325 target range: 9.856723 and range: 4.80 m. 2025-09-20T19:35:22.561Z,1758396922.561 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.705101 2025-09-20T19:35:22.813Z,1758396922.813 [DAT](INFO): DAT read: Rx Time:19:35:25.1629 2025-09-20T19:35:22.813Z,1758396922.813 [DAT](INFO): Rx dataTimestamp_ set to:1758396922.812815 2025-09-20T19:35:22.814Z,1758396922.814 [DAT](INFO): DAT read: Bearing 74.9, 25.5 (Local) 2025-09-20T19:35:22.815Z,1758396922.815 [DAT](INFO): Local bearing/azimuth received: Bearing 74.9, 25.5 (Local) 2025-09-20T19:35:22.817Z,1758396922.817 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:22.821Z,1758396922.821 [DAT](INFO): DAT read: 19:35:25.1629 LVL= 19424, 22865, 18770, 24467, AGC= 49, IDX= 499,-0.07,-2.827, 2.335, 2.633,-1.777, PHS=-0.948,-2.126,-1.918, RAW= 99.5, 58.3, CAL= 98.3, 62.6, ROT= 51.7, -62.6 2025-09-20T19:35:22.822Z,1758396922.822 [DAT](INFO): got valid direction response: 19:35:25.1629 LVL= 19424, 22865, 18770, 24467, AGC= 49, IDX= 499,-0.07,-2.827, 2.335, 2.633,-1.777, PHS=-0.948,-2.126,-1.918, RAW= 99.5, 58.3, CAL= 98.3, 62.6, ROT= 51.7, -62.6 2025-09-20T19:35:22.824Z,1758396922.824 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-09-20T19:35:22.825Z,1758396922.825 [DAT](INFO): direction in FSK: [0.285222,0.361154,0.887815] 2025-09-20T19:35:22.825Z,1758396922.825 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:22.829Z,1758396922.829 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.973289 2025-09-20T19:35:22.893Z,1758396922.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503289 s, deltaX: -0.100000 m, approachRate: -0.198694 m/s, rangeRepo size: 4 2025-09-20T19:35:22.899Z,1758396922.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.679225 m, bearing: 268.970975 deg, lat: 36.779286 deg, lon: -121.859575 deg, deltaT: 15.883919 s, deltaX: -5.177497 m, approachRate: -0.325958 m/s, posRepo size: 4 2025-09-20T19:35:22.900Z,1758396922.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.86 m. 2025-09-20T19:35:22.902Z,1758396922.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.006916 m, bearing: 161.393311 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 133.288628 deg, new cmd heading: 132.070653 deg. 2025-09-20T19:35:22.908Z,1758396922.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305068 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:23.065Z,1758396923.065 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.209362 2025-09-20T19:35:23.317Z,1758396923.317 [DAT](INFO): DAT read: Rx Time:19:35:25.6629 2025-09-20T19:35:23.318Z,1758396923.318 [DAT](INFO): Rx dataTimestamp_ set to:1758396923.317407 2025-09-20T19:35:23.323Z,1758396923.323 [DAT](INFO): DAT read: Bearing 77.5, 26.2 (Local) 2025-09-20T19:35:23.324Z,1758396923.324 [DAT](INFO): Local bearing/azimuth received: Bearing 77.5, 26.2 (Local) 2025-09-20T19:35:23.326Z,1758396923.326 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:23.330Z,1758396923.330 [DAT](INFO): DAT read: 19:35:25.6629 LVL= 19760, 22785, 17746, 25203, AGC= 51, IDX= 499, 0.08,-2.549, 2.748, 2.911,-1.473, PHS=-0.974,-2.016,-1.943, RAW= 93.6, 60.0, CAL= 92.8, 64.2, ROT= 57.2, -64.2 2025-09-20T19:35:23.332Z,1758396923.332 [DAT](INFO): got valid direction response: 19:35:25.6629 LVL= 19760, 22785, 17746, 25203, AGC= 51, IDX= 499, 0.08,-2.549, 2.748, 2.911,-1.473, PHS=-0.974,-2.016,-1.943, RAW= 93.6, 60.0, CAL= 92.8, 64.2, ROT= 57.2, -64.2 2025-09-20T19:35:23.332Z,1758396923.332 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-09-20T19:35:23.333Z,1758396923.333 [DAT](INFO): direction in FSK: [0.235768,0.365841,0.900319] 2025-09-20T19:35:23.333Z,1758396923.333 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:23.337Z,1758396923.337 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.481060 2025-09-20T19:35:23.501Z,1758396923.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.504592 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:23.508Z,1758396923.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.679211 m, bearing: 273.860787 deg, lat: 36.779286 deg, lon: -121.859611 deg, deltaT: 16.388511 s, deltaX: -5.177512 m, approachRate: -0.315923 m/s, posRepo size: 4 2025-09-20T19:35:23.515Z,1758396923.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.86 m. 2025-09-20T19:35:23.523Z,1758396923.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 0.975362 m, bearing: 156.406621 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 132.070655 deg, new cmd heading: 130.729877 deg. 2025-09-20T19:35:23.524Z,1758396923.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281667 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:23.568Z,1758396923.568 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.712257 2025-09-20T19:35:23.827Z,1758396923.827 [DAT](INFO): DAT read: Rx Time:19:35:26.1629 2025-09-20T19:35:23.827Z,1758396923.827 [DAT](INFO): Rx dataTimestamp_ set to:1758396923.827158 2025-09-20T19:35:23.829Z,1758396923.829 [DAT](INFO): DAT read: Bearing 79.2, 25.2 (Local) 2025-09-20T19:35:23.829Z,1758396923.829 [DAT](INFO): Local bearing/azimuth received: Bearing 79.2, 25.2 (Local) 2025-09-20T19:35:23.831Z,1758396923.831 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:23.836Z,1758396923.836 [DAT](INFO): DAT read: 19:35:26.1629 LVL= 21392, 22481, 15794, 21843, AGC= 49, IDX= 498, 0.25, 2.721, 1.864, 1.974,-2.445, PHS=-1.016,-1.929,-1.909, RAW= 91.1, 62.2, CAL= 90.4, 66.2, ROT= 59.6, -66.2 2025-09-20T19:35:23.837Z,1758396923.837 [DAT](INFO): got valid direction response: 19:35:26.1629 LVL= 21392, 22481, 15794, 21843, AGC= 49, IDX= 498, 0.25, 2.721, 1.864, 1.974,-2.445, PHS=-1.016,-1.929,-1.909, RAW= 91.1, 62.2, CAL= 90.4, 66.2, ROT= 59.6, -66.2 2025-09-20T19:35:23.837Z,1758396923.837 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-09-20T19:35:23.838Z,1758396923.838 [DAT](INFO): direction in FSK: [0.204208,0.348063,0.914960] 2025-09-20T19:35:23.838Z,1758396923.838 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:23.842Z,1758396923.842 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.986252 2025-09-20T19:35:24.039Z,1758396924.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.509751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:24.041Z,1758396924.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.679211 m, bearing: 276.719033 deg, lat: 36.779288 deg, lon: -121.859611 deg, deltaT: 16.898262 s, deltaX: -5.177512 m, approachRate: -0.306393 m/s, posRepo size: 4 2025-09-20T19:35:24.042Z,1758396924.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.86 m. 2025-09-20T19:35:24.045Z,1758396924.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 0.953346 m, bearing: 151.587521 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 130.729875 deg, new cmd heading: 129.519263 deg. 2025-09-20T19:35:24.046Z,1758396924.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260538 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:24.083Z,1758396924.083 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.226746 2025-09-20T19:35:24.333Z,1758396924.333 [DAT](INFO): DAT read: Rx Time:19:35:26.6630 2025-09-20T19:35:24.333Z,1758396924.333 [DAT](INFO): Rx dataTimestamp_ set to:1758396924.333147 2025-09-20T19:35:24.335Z,1758396924.335 [DAT](INFO): DAT read: Bearing 79.4, 22.7 (Local) 2025-09-20T19:35:24.335Z,1758396924.335 [DAT](INFO): Local bearing/azimuth received: Bearing 79.4, 22.7 (Local) 2025-09-20T19:35:24.337Z,1758396924.337 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.0 2025-09-20T19:35:24.342Z,1758396924.342 [DAT](INFO): DAT read: 19:35:26.6630 LVL= 25040, 22209, 17058, 21923, AGC= 49, IDX= 499, 0.39,-3.020, 2.514, 2.631,-1.888, PHS=-1.030,-1.837,-1.809, RAW= 91.8, 64.4, CAL= 91.1, 68.0, ROT= 58.9, -68.0 2025-09-20T19:35:24.345Z,1758396924.345 [DAT](INFO): got valid direction response: 19:35:26.6630 LVL= 25040, 22209, 17058, 21923, AGC= 49, IDX= 499, 0.39,-3.020, 2.514, 2.631,-1.888, PHS=-1.030,-1.837,-1.809, RAW= 91.8, 64.4, CAL= 91.1, 68.0, ROT= 58.9, -68.0 2025-09-20T19:35:24.347Z,1758396924.347 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-09-20T19:35:24.349Z,1758396924.349 [DAT](INFO): direction in FSK: [0.193497,0.320763,0.927184] 2025-09-20T19:35:24.349Z,1758396924.349 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:24.353Z,1758396924.353 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.497234 2025-09-20T19:35:24.584Z,1758396924.584 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.728294 2025-09-20T19:35:24.662Z,1758396924.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.505989 s, deltaX: 0.100000 m, approachRate: 0.197634 m/s, rangeRepo size: 4 2025-09-20T19:35:24.668Z,1758396924.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.778703 m, bearing: 272.199158 deg, lat: 36.779288 deg, lon: -121.859611 deg, deltaT: 17.404251 s, deltaX: -5.078020 m, approachRate: -0.291769 m/s, posRepo size: 4 2025-09-20T19:35:24.669Z,1758396924.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.86 m. 2025-09-20T19:35:24.673Z,1758396924.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 0.965331 m, bearing: 149.580233 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 129.519265 deg, new cmd heading: 128.133067 deg. 2025-09-20T19:35:24.674Z,1758396924.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236344 target range: 9.856723 and range: 4.80 m. 2025-09-20T19:35:24.837Z,1758396924.837 [DAT](INFO): DAT read: Rx Time:19:35:27.1629 2025-09-20T19:35:24.837Z,1758396924.837 [DAT](INFO): Rx dataTimestamp_ set to:1758396924.836844 2025-09-20T19:35:24.838Z,1758396924.838 [DAT](INFO): DAT read: Bearing 81.8, 20.3 (Local) 2025-09-20T19:35:24.839Z,1758396924.839 [DAT](INFO): Local bearing/azimuth received: Bearing 81.8, 20.3 (Local) 2025-09-20T19:35:24.841Z,1758396924.841 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:24.846Z,1758396924.846 [DAT](INFO): DAT read: 19:35:27.1629 LVL= 20928, 18865, 14578, 20323, AGC= 49, IDX= 499,-0.47, 1.223, 0.653, 0.682, 2.373, PHS=-1.048,-1.675,-1.734, RAW= 85.5, 67.3, CAL= 84.6, 70.6, ROT= 65.4, -70.6 2025-09-20T19:35:24.847Z,1758396924.847 [DAT](INFO): got valid direction response: 19:35:27.1629 LVL= 20928, 18865, 14578, 20323, AGC= 49, IDX= 499,-0.47, 1.223, 0.653, 0.682, 2.373, PHS=-1.048,-1.675,-1.734, RAW= 85.5, 67.3, CAL= 84.6, 70.6, ROT= 65.4, -70.6 2025-09-20T19:35:24.847Z,1758396924.847 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-09-20T19:35:24.848Z,1758396924.848 [DAT](INFO): direction in FSK: [0.138272,0.302013,0.943223] 2025-09-20T19:35:24.849Z,1758396924.849 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:24.860Z,1758396924.860 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.004593 2025-09-20T19:35:25.091Z,1758396925.091 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.234333 2025-09-20T19:35:25.340Z,1758396925.340 [DAT](INFO): DAT read: Rx Time:19:35:27.6630 2025-09-20T19:35:25.341Z,1758396925.341 [DAT](INFO): Rx dataTimestamp_ set to:1758396925.340626 2025-09-20T19:35:25.342Z,1758396925.342 [DAT](INFO): DAT read: Bearing 76.5, 19.6 (Local) 2025-09-20T19:35:25.342Z,1758396925.342 [DAT](INFO): Local bearing/azimuth received: Bearing 76.5, 19.6 (Local) 2025-09-20T19:35:25.345Z,1758396925.345 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.0 2025-09-20T19:35:25.349Z,1758396925.349 [DAT](INFO): DAT read: 19:35:27.6630 LVL= 28368, 20177, 19650, 21219, AGC= 49, IDX= 500,-0.26, 1.413, 0.726, 0.899, 2.543, PHS=-1.028,-1.772,-1.688, RAW= 95.9, 66.0, CAL= 95.1, 69.3, ROT= 54.9, -69.3 2025-09-20T19:35:25.350Z,1758396925.350 [DAT](INFO): got valid direction response: 19:35:27.6630 LVL= 28368, 20177, 19650, 21219, AGC= 49, IDX= 500,-0.26, 1.413, 0.726, 0.899, 2.543, PHS=-1.028,-1.772,-1.688, RAW= 95.9, 66.0, CAL= 95.1, 69.3, ROT= 54.9, -69.3 2025-09-20T19:35:25.350Z,1758396925.350 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-09-20T19:35:25.351Z,1758396925.351 [DAT](INFO): direction in FSK: [0.203250,0.289195,0.935444] 2025-09-20T19:35:25.352Z,1758396925.352 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:25.355Z,1758396925.355 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.499371 2025-09-20T19:35:25.371Z,1758396925.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 1.007479 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:25.373Z,1758396925.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.679146 m, bearing: 276.058503 deg, lat: 36.779289 deg, lon: -121.859610 deg, deltaT: 17.907948 s, deltaX: -5.177577 m, approachRate: -0.289122 m/s, posRepo size: 4 2025-09-20T19:35:25.374Z,1758396925.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.86 m. 2025-09-20T19:35:25.381Z,1758396925.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 0.974368 m, bearing: 152.550734 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 128.133065 deg, new cmd heading: 126.555715 deg. 2025-09-20T19:35:25.382Z,1758396925.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208814 target range: 9.856723 and range: 4.80 m. 2025-09-20T19:35:25.592Z,1758396925.592 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.736343 2025-09-20T19:35:25.821Z,1758396925.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:25.827Z,1758396925.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 0.982271 m, bearing: 154.482962 deg, approach rate: 0.017563 m/s, LOS rate: 4.258703 deg/s, cmd heading: 126.555715 deg, new cmd heading: 130.382651 deg. 2025-09-20T19:35:25.828Z,1758396925.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275607 target range: 9.856723 and range: 4.80 m. 2025-09-20T19:35:25.845Z,1758396925.845 [DAT](INFO): DAT read: Rx Time:19:35:28.1629 2025-09-20T19:35:25.845Z,1758396925.845 [DAT](INFO): Rx dataTimestamp_ set to:1758396925.844738 2025-09-20T19:35:25.846Z,1758396925.846 [DAT](INFO): DAT read: Bearing 73.7, 18.0 (Local) 2025-09-20T19:35:25.847Z,1758396925.847 [DAT](INFO): Local bearing/azimuth received: Bearing 73.7, 18.0 (Local) 2025-09-20T19:35:25.849Z,1758396925.849 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:25.858Z,1758396925.858 [DAT](INFO): DAT read: 19:35:28.1629 LVL= 27488, 19441, 22178, 21619, AGC= 48, IDX= 499,-0.03,-1.250,-1.940,-1.697,-0.151, PHS=-0.997,-1.744,-1.590, RAW= 101.3, 66.0, CAL= 100.3, 69.2, ROT= 49.7, -69.2 2025-09-20T19:35:25.859Z,1758396925.859 [DAT](INFO): got valid direction response: 19:35:28.1629 LVL= 27488, 19441, 22178, 21619, AGC= 48, IDX= 499,-0.03,-1.250,-1.940,-1.697,-0.151, PHS=-0.997,-1.744,-1.590, RAW= 101.3, 66.0, CAL= 100.3, 69.2, ROT= 49.7, -69.2 2025-09-20T19:35:25.860Z,1758396925.860 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-09-20T19:35:25.861Z,1758396925.861 [DAT](INFO): direction in FSK: [0.229680,0.270829,0.934826] 2025-09-20T19:35:25.861Z,1758396925.861 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:25.864Z,1758396925.864 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.008545 2025-09-20T19:35:26.097Z,1758396926.097 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.241154 2025-09-20T19:35:26.285Z,1758396926.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.504112 s, deltaX: -0.100000 m, approachRate: -0.198369 m/s, rangeRepo size: 4 2025-09-20T19:35:26.288Z,1758396926.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.679098 m, bearing: 256.248400 deg, lat: 36.779288 deg, lon: -121.859609 deg, deltaT: 18.915842 s, deltaX: -5.177625 m, approachRate: -0.273719 m/s, posRepo size: 4 2025-09-20T19:35:26.289Z,1758396926.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.86 m. 2025-09-20T19:35:26.294Z,1758396926.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 0.994400 m, bearing: 155.614363 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 130.382656 deg, new cmd heading: 129.348735 deg. 2025-09-20T19:35:26.312Z,1758396926.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257561 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:26.349Z,1758396926.349 [DAT](INFO): DAT read: Rx Time:19:35:28.6630 2025-09-20T19:35:26.349Z,1758396926.349 [DAT](INFO): Rx dataTimestamp_ set to:1758396926.348989 2025-09-20T19:35:26.351Z,1758396926.351 [DAT](INFO): DAT read: Bearing 73.8, 18.4 (Local) 2025-09-20T19:35:26.351Z,1758396926.351 [DAT](INFO): Local bearing/azimuth received: Bearing 73.8, 18.4 (Local) 2025-09-20T19:35:26.353Z,1758396926.353 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.0 2025-09-20T19:35:26.358Z,1758396926.358 [DAT](INFO): DAT read: 19:35:28.6630 LVL= 25520, 19345, 21010, 22003, AGC= 49, IDX= 500, 0.10, 0.789, 0.127, 0.314, 1.899, PHS=-1.008,-1.727,-1.629, RAW= 97.2, 66.4, CAL= 96.4, 69.6, ROT= 53.6, -69.6 2025-09-20T19:35:26.360Z,1758396926.360 [DAT](INFO): got valid direction response: 19:35:28.6630 LVL= 25520, 19345, 21010, 22003, AGC= 49, IDX= 500, 0.10, 0.789, 0.127, 0.314, 1.899, PHS=-1.008,-1.727,-1.629, RAW= 97.2, 66.4, CAL= 96.4, 69.6, ROT= 53.6, -69.6 2025-09-20T19:35:26.361Z,1758396926.361 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-09-20T19:35:26.362Z,1758396926.362 [DAT](INFO): direction in FSK: [0.206849,0.280564,0.937282] 2025-09-20T19:35:26.363Z,1758396926.363 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:26.369Z,1758396926.369 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.512863 2025-09-20T19:35:26.600Z,1758396926.600 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.744080 2025-09-20T19:35:26.676Z,1758396926.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504251 s, deltaX: 0.100000 m, approachRate: 0.198315 m/s, rangeRepo size: 4 2025-09-20T19:35:26.678Z,1758396926.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.778784 m, bearing: 258.078600 deg, lat: 36.779286 deg, lon: -121.859609 deg, deltaT: 19.420093 s, deltaX: -5.077939 m, approachRate: -0.261479 m/s, posRepo size: 4 2025-09-20T19:35:26.683Z,1758396926.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.86 m. 2025-09-20T19:35:26.686Z,1758396926.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.004179 m, bearing: 156.442788 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 129.348729 deg, new cmd heading: 128.488928 deg. 2025-09-20T19:35:26.687Z,1758396926.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242555 target range: 9.856723 and range: 4.80 m. 2025-09-20T19:35:26.853Z,1758396926.853 [DAT](INFO): DAT read: Rx Time:19:35:29.1628 2025-09-20T19:35:26.853Z,1758396926.853 [DAT](INFO): Rx dataTimestamp_ set to:1758396926.852886 2025-09-20T19:35:26.854Z,1758396926.854 [DAT](INFO): DAT read: Bearing 73.5, 18.9 (Local) 2025-09-20T19:35:26.855Z,1758396926.855 [DAT](INFO): Local bearing/azimuth received: Bearing 73.5, 18.9 (Local) 2025-09-20T19:35:26.857Z,1758396926.857 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0 2025-09-20T19:35:26.862Z,1758396926.862 [DAT](INFO): DAT read: 19:35:29.1628 LVL= 26208, 20337, 20642, 21203, AGC= 49, IDX= 499, 0.24,-0.061,-0.692,-0.559, 1.068, PHS=-1.027,-1.715,-1.670, RAW= 93.3, 66.9, CAL= 92.6, 70.1, ROT= 57.4, -70.1 2025-09-20T19:35:26.863Z,1758396926.863 [DAT](INFO): got valid direction response: 19:35:29.1628 LVL= 26208, 20337, 20642, 21203, AGC= 49, IDX= 499, 0.24,-0.061,-0.692,-0.559, 1.068, PHS=-1.027,-1.715,-1.670, RAW= 93.3, 66.9, CAL= 92.6, 70.1, ROT= 57.4, -70.1 2025-09-20T19:35:26.864Z,1758396926.864 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-09-20T19:35:26.865Z,1758396926.865 [DAT](INFO): direction in FSK: [0.183387,0.286754,0.940288] 2025-09-20T19:35:26.865Z,1758396926.865 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:26.869Z,1758396926.869 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.012939 2025-09-20T19:35:27.105Z,1758396927.105 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.249058 2025-09-20T19:35:27.314Z,1758396927.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.503897 s, deltaX: -0.300000 m, approachRate: -0.595360 m/s, rangeRepo size: 4 2025-09-20T19:35:27.340Z,1758396927.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.480110 m, bearing: 253.661682 deg, lat: 36.779285 deg, lon: -121.859609 deg, deltaT: 19.923990 s, deltaX: -5.376613 m, approachRate: -0.269856 m/s, posRepo size: 4 2025-09-20T19:35:27.341Z,1758396927.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.86 m. 2025-09-20T19:35:27.348Z,1758396927.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.032097 m, bearing: 163.089458 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 128.488931 deg, new cmd heading: 127.060252 deg. 2025-09-20T19:35:27.349Z,1758396927.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217620 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:27.357Z,1758396927.357 [DAT](INFO): DAT read: Rx Time:19:35:29.6628 2025-09-20T19:35:27.357Z,1758396927.357 [DAT](INFO): Rx dataTimestamp_ set to:1758396927.356803 2025-09-20T19:35:27.358Z,1758396927.358 [DAT](INFO): DAT read: Bearing 68.2, 20.6 (Local) 2025-09-20T19:35:27.359Z,1758396927.359 [DAT](INFO): Local bearing/azimuth received: Bearing 68.2, 20.6 (Local) 2025-09-20T19:35:27.361Z,1758396927.361 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0 2025-09-20T19:35:27.365Z,1758396927.365 [DAT](INFO): DAT read: 19:35:29.6628 LVL= 26256, 21169, 18418, 20003, AGC= 49, IDX= 499, 0.33, 0.252,-0.554,-0.320, 1.393, PHS=-1.039,-1.902,-1.757, RAW= 99.1, 64.3, CAL= 98.1, 67.7, ROT= 51.9, -67.7 2025-09-20T19:35:27.366Z,1758396927.366 [DAT](INFO): got valid direction response: 19:35:29.6628 LVL= 26256, 21169, 18418, 20003, AGC= 49, IDX= 499, 0.33, 0.252,-0.554,-0.320, 1.393, PHS=-1.039,-1.902,-1.757, RAW= 99.1, 64.3, CAL= 98.1, 67.7, ROT= 51.9, -67.7 2025-09-20T19:35:27.367Z,1758396927.367 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-09-20T19:35:27.368Z,1758396927.368 [DAT](INFO): direction in FSK: [0.234138,0.298607,0.925210] 2025-09-20T19:35:27.368Z,1758396927.368 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:27.372Z,1758396927.372 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:35:27.372Z,1758396927.372 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:35:27.372Z,1758396927.372 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-09-20T19:35:27.609Z,1758396927.609 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:27.861Z,1758396927.861 [DAT](INFO): DAT read: Rx Time:19:35:30.1628 2025-09-20T19:35:27.862Z,1758396927.862 [DAT](INFO): Rx dataTimestamp_ set to:1758396927.861258 2025-09-20T19:35:27.863Z,1758396927.863 [DAT](INFO): DAT read: Bearing 61.3, 22.5 (Local) 2025-09-20T19:35:27.863Z,1758396927.863 [DAT](INFO): Local bearing/azimuth received: Bearing 61.3, 22.5 (Local) 2025-09-20T19:35:27.865Z,1758396927.865 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0 2025-09-20T19:35:27.870Z,1758396927.870 [DAT](INFO): DAT read: 19:35:30.1628 LVL= 26288, 19953, 17474, 21635, AGC= 50, IDX= 499,-0.47,-1.983,-3.082,-2.662,-0.841, PHS=-1.040,-2.196,-1.865, RAW= 106.1, 60.2, CAL= 104.7, 64.2, ROT= 45.3, -64.2 2025-09-20T19:35:27.876Z,1758396927.876 [DAT](INFO): got valid direction response: 19:35:30.1628 LVL= 26288, 19953, 17474, 21635, AGC= 50, IDX= 499,-0.47,-1.983,-3.082,-2.662,-0.841, PHS=-1.040,-2.196,-1.865, RAW= 106.1, 60.2, CAL= 104.7, 64.2, ROT= 45.3, -64.2 2025-09-20T19:35:27.876Z,1758396927.876 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:35:27.877Z,1758396927.877 [DAT](INFO): direction in FSK: [0.306139,0.309362,0.900319] 2025-09-20T19:35:27.877Z,1758396927.877 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:27.882Z,1758396927.882 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:27.882Z,1758396927.882 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-09-20T19:35:27.901Z,1758396927.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 1.008372 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:27.903Z,1758396927.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.480006 m, bearing: 244.374939 deg, lat: 36.779285 deg, lon: -121.859609 deg, deltaT: 20.427907 s, deltaX: -5.376717 m, approachRate: -0.263204 m/s, posRepo size: 4 2025-09-20T19:35:27.908Z,1758396927.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.86 m. 2025-09-20T19:35:27.910Z,1758396927.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.067765 m, bearing: 168.312332 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 127.060247 deg, new cmd heading: 125.754498 deg. 2025-09-20T19:35:27.919Z,1758396927.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194830 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:28.112Z,1758396928.112 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:28.365Z,1758396928.365 [DAT](INFO): DAT read: Rx Time:19:35:30.6629 2025-09-20T19:35:28.365Z,1758396928.365 [DAT](INFO): Rx dataTimestamp_ set to:1758396928.365095 2025-09-20T19:35:28.367Z,1758396928.367 [DAT](INFO): DAT read: Bearing 54.6, 20.7 (Local) 2025-09-20T19:35:28.367Z,1758396928.367 [DAT](INFO): Local bearing/azimuth received: Bearing 54.6, 20.7 (Local) 2025-09-20T19:35:28.369Z,1758396928.369 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:28.374Z,1758396928.374 [DAT](INFO): DAT read: 19:35:30.6629 LVL= 27824, 20369, 18802, 20355, AGC= 50, IDX= 500,-0.25,-1.969, 2.957,-2.630,-0.849, PHS=-1.018,-2.432,-1.825, RAW= 115.3, 56.6, CAL= 114.0, 61.6, ROT= 36.0, -61.6 2025-09-20T19:35:28.375Z,1758396928.375 [DAT](INFO): got valid direction response: 19:35:30.6629 LVL= 27824, 20369, 18802, 20355, AGC= 50, IDX= 500,-0.25,-1.969, 2.957,-2.630,-0.849, PHS=-1.018,-2.432,-1.825, RAW= 115.3, 56.6, CAL= 114.0, 61.6, ROT= 36.0, -61.6 2025-09-20T19:35:28.375Z,1758396928.375 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:35:28.376Z,1758396928.376 [DAT](INFO): direction in FSK: [0.384788,0.279565,0.879649] 2025-09-20T19:35:28.376Z,1758396928.376 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:28.384Z,1758396928.384 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:28.384Z,1758396928.384 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-09-20T19:35:28.411Z,1758396928.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503837 s, deltaX: 0.200000 m, approachRate: 0.396953 m/s, rangeRepo size: 4 2025-09-20T19:35:28.413Z,1758396928.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.480008 m, bearing: 239.838895 deg, lat: 36.779285 deg, lon: -121.859607 deg, deltaT: 20.932362 s, deltaX: -5.376715 m, approachRate: -0.256861 m/s, posRepo size: 4 2025-09-20T19:35:28.414Z,1758396928.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.86 m. 2025-09-20T19:35:28.421Z,1758396928.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.089768 m, bearing: 172.612611 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 125.754492 deg, new cmd heading: 124.627043 deg. 2025-09-20T19:35:28.422Z,1758396928.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.175152 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:28.621Z,1758396928.621 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:28.776Z,1758396928.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:28.785Z,1758396928.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.115003 m, bearing: 175.645469 deg, approach rate: 0.069290 m/s, LOS rate: 8.135408 deg/s, cmd heading: 124.627047 deg, new cmd heading: 130.531722 deg. 2025-09-20T19:35:28.786Z,1758396928.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278208 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:28.874Z,1758396928.874 [DAT](INFO): DAT read: Rx Time:19:35:31.1628 2025-09-20T19:35:28.874Z,1758396928.874 [DAT](INFO): Rx dataTimestamp_ set to:1758396928.874105 2025-09-20T19:35:28.877Z,1758396928.877 [DAT](INFO): DAT read: Bearing 56.7, 22.4 (Local) 2025-09-20T19:35:28.878Z,1758396928.878 [DAT](INFO): Local bearing/azimuth received: Bearing 56.7, 22.4 (Local) 2025-09-20T19:35:28.883Z,1758396928.883 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0 2025-09-20T19:35:28.889Z,1758396928.889 [DAT](INFO): DAT read: 19:35:31.1628 LVL= 25264, 22257, 17954, 21843, AGC= 48, IDX= 499,-0.22,-1.624,-2.770,-2.321,-0.506, PHS=-1.016,-2.219,-1.859, RAW= 106.9, 59.3, CAL= 105.4, 63.4, ROT= 44.6, -63.4 2025-09-20T19:35:28.890Z,1758396928.890 [DAT](INFO): got valid direction response: 19:35:31.1628 LVL= 25264, 22257, 17954, 21843, AGC= 48, IDX= 499,-0.22,-1.624,-2.770,-2.321,-0.506, PHS=-1.016,-2.219,-1.859, RAW= 106.9, 59.3, CAL= 105.4, 63.4, ROT= 44.6, -63.4 2025-09-20T19:35:28.890Z,1758396928.890 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:35:28.891Z,1758396928.891 [DAT](INFO): direction in FSK: [0.318816,0.314395,0.894154] 2025-09-20T19:35:28.891Z,1758396928.891 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:28.895Z,1758396928.895 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:28.900Z,1758396928.900 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-09-20T19:35:29.124Z,1758396929.124 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:29.145Z,1758396929.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.509010 s, deltaX: -0.200000 m, approachRate: -0.392919 m/s, rangeRepo size: 4 2025-09-20T19:35:29.152Z,1758396929.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.480008 m, bearing: 234.961496 deg, lat: 36.779281 deg, lon: -121.859606 deg, deltaT: 21.945209 s, deltaX: -5.376715 m, approachRate: -0.245006 m/s, posRepo size: 4 2025-09-20T19:35:29.154Z,1758396929.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.86 m. 2025-09-20T19:35:29.161Z,1758396929.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.148122 m, bearing: 178.819227 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 130.531718 deg, new cmd heading: 129.700256 deg. 2025-09-20T19:35:29.162Z,1758396929.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263696 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:29.377Z,1758396929.377 [DAT](INFO): DAT read: Rx Time:19:35:31.6629 2025-09-20T19:35:29.377Z,1758396929.377 [DAT](INFO): Rx dataTimestamp_ set to:1758396929.376852 2025-09-20T19:35:29.378Z,1758396929.378 [DAT](INFO): DAT read: Bearing 54.7, 21.2 (Local) 2025-09-20T19:35:29.379Z,1758396929.379 [DAT](INFO): Local bearing/azimuth received: Bearing 54.7, 21.2 (Local) 2025-09-20T19:35:29.381Z,1758396929.381 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0 2025-09-20T19:35:29.385Z,1758396929.385 [DAT](INFO): DAT read: 19:35:31.6629 LVL= 27024, 24097, 17474, 20499, AGC= 48, IDX= 500,-0.16, 0.287,-0.852,-0.395, 1.399, PHS=-1.010,-2.206,-1.838, RAW= 107.5, 59.3, CAL= 106.0, 63.4, ROT= 44.0, -63.4 2025-09-20T19:35:29.386Z,1758396929.386 [DAT](INFO): got valid direction response: 19:35:31.6629 LVL= 27024, 24097, 17474, 20499, AGC= 48, IDX= 500,-0.16, 0.287,-0.852,-0.395, 1.399, PHS=-1.010,-2.206,-1.838, RAW= 107.5, 59.3, CAL= 106.0, 63.4, ROT= 44.0, -63.4 2025-09-20T19:35:29.387Z,1758396929.387 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:35:29.388Z,1758396929.388 [DAT](INFO): direction in FSK: [0.322091,0.311040,0.894154] 2025-09-20T19:35:29.388Z,1758396929.388 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:29.392Z,1758396929.392 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:29.392Z,1758396929.392 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-09-20T19:35:29.622Z,1758396929.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.502747 s, deltaX: 0.200000 m, approachRate: 0.397814 m/s, rangeRepo size: 4 2025-09-20T19:35:29.628Z,1758396929.628 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:29.629Z,1758396929.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.679185 m, bearing: 232.984540 deg, lat: 36.779280 deg, lon: -121.859606 deg, deltaT: 22.447956 s, deltaX: -5.177537 m, approachRate: -0.230646 m/s, posRepo size: 4 2025-09-20T19:35:29.630Z,1758396929.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.86 m. 2025-09-20T19:35:29.637Z,1758396929.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.215580 m, bearing: 182.508037 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 129.700252 deg, new cmd heading: 128.638618 deg. 2025-09-20T19:35:29.638Z,1758396929.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245167 target range: 9.856723 and range: 4.70 m. 2025-09-20T19:35:29.882Z,1758396929.882 [DAT](INFO): DAT read: Rx Time:19:35:32.1628 2025-09-20T19:35:29.884Z,1758396929.884 [DAT](INFO): Rx dataTimestamp_ set to:1758396929.882169 2025-09-20T19:35:29.886Z,1758396929.886 [DAT](INFO): DAT read: Bearing 55.9, 22.7 (Local) 2025-09-20T19:35:29.886Z,1758396929.886 [DAT](INFO): Local bearing/azimuth received: Bearing 55.9, 22.7 (Local) 2025-09-20T19:35:29.888Z,1758396929.888 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0 2025-09-20T19:35:29.893Z,1758396929.893 [DAT](INFO): DAT read: 19:35:32.1628 LVL= 24880, 21281, 19330, 19619, AGC= 49, IDX= 499,-0.08,-0.170,-1.184,-0.900, 0.947, PHS=-1.015,-2.086,-1.891, RAW= 99.8, 60.8, CAL= 98.7, 64.7, ROT= 51.3, -64.7 2025-09-20T19:35:29.894Z,1758396929.894 [DAT](INFO): got valid direction response: 19:35:32.1628 LVL= 24880, 21281, 19330, 19619, AGC= 49, IDX= 499,-0.08,-0.170,-1.184,-0.900, 0.947, PHS=-1.015,-2.086,-1.891, RAW= 99.8, 60.8, CAL= 98.7, 64.7, ROT= 51.3, -64.7 2025-09-20T19:35:29.894Z,1758396929.894 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:35:29.896Z,1758396929.896 [DAT](INFO): direction in FSK: [0.267202,0.333523,0.904083] 2025-09-20T19:35:29.896Z,1758396929.896 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:29.900Z,1758396929.900 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:29.900Z,1758396929.900 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-09-20T19:35:30.068Z,1758396930.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.505317 s, deltaX: -0.200000 m, approachRate: -0.395791 m/s, rangeRepo size: 4 2025-09-20T19:35:30.070Z,1758396930.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.480071 m, bearing: 237.438373 deg, lat: 36.779280 deg, lon: -121.859606 deg, deltaT: 22.953273 s, deltaX: -5.376652 m, approachRate: -0.234243 m/s, posRepo size: 4 2025-09-20T19:35:30.070Z,1758396930.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.86 m. 2025-09-20T19:35:30.077Z,1758396930.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.286600 m, bearing: 185.620656 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 128.638622 deg, new cmd heading: 127.665384 deg. 2025-09-20T19:35:30.078Z,1758396930.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228181 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:30.133Z,1758396930.133 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:35:30.384Z,1758396930.384 [DAT](INFO): DAT read: user:80> 2025-09-20T19:35:30.384Z,1758396930.384 [DAT](INFO): DAT read: 50 2025-09-20T19:35:30.385Z,1758396930.385 [DAT](INFO): unknown deviceResponse_: 50 2025-09-20T19:35:30.385Z,1758396930.385 [DAT](INFO): DAT read: Ok 2025-09-20T19:35:30.385Z,1758396930.385 [DAT](INFO): unknown deviceResponse_: Ok 2025-09-20T19:35:30.386Z,1758396930.386 [DAT](INFO): DAT read: user:81> 2025-09-20T19:35:30.386Z,1758396930.386 [DAT](INFO): DAT read: Tx time:19:35:33.1581 2025-09-20T19:35:30.386Z,1758396930.386 [DAT](INFO): Ping request sent. 2025-09-20T19:35:30.387Z,1758396930.387 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:35:30.387Z,1758396930.387 [DAT](INFO): publishing transmit ping time 2025-09-20T19:35:30.388Z,1758396930.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001125 2025-09-20T19:35:30.557Z,1758396930.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:30.563Z,1758396930.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:30.566Z,1758396930.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.363963 m, bearing: 189.058942 deg, approach rate: 0.154645 m/s, LOS rate: 6.479225 deg/s, cmd heading: 127.665388 deg, new cmd heading: 134.120582 deg. 2025-09-20T19:35:30.571Z,1758396930.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340846 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:30.637Z,1758396930.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250047 2025-09-20T19:35:30.889Z,1758396930.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501993 2025-09-20T19:35:30.929Z,1758396930.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:30.932Z,1758396930.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.422766 m, bearing: 191.220356 deg, approach rate: 0.158823 m/s, LOS rate: 5.595282 deg/s, cmd heading: 134.120586 deg, new cmd heading: 138.256570 deg. 2025-09-20T19:35:30.933Z,1758396930.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413032 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:31.140Z,1758396931.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753363 2025-09-20T19:35:31.350Z,1758396931.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:31.361Z,1758396931.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.475916 m, bearing: 192.937317 deg, approach rate: 0.126442 m/s, LOS rate: 3.936880 deg/s, cmd heading: 138.256566 deg, new cmd heading: 141.562659 deg. 2025-09-20T19:35:31.361Z,1758396931.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470735 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:31.392Z,1758396931.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005494 2025-09-20T19:35:31.644Z,1758396931.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257411 2025-09-20T19:35:31.728Z,1758396931.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:31.731Z,1758396931.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.528293 m, bearing: 194.423945 deg, approach rate: 0.138453 m/s, LOS rate: 3.794634 deg/s, cmd heading: 141.562665 deg, new cmd heading: 144.431301 deg. 2025-09-20T19:35:31.732Z,1758396931.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520802 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:31.896Z,1758396931.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509325 2025-09-20T19:35:32.139Z,1758396932.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:32.142Z,1758396932.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.583335 m, bearing: 195.853596 deg, approach rate: 0.133915 m/s, LOS rate: 3.357059 deg/s, cmd heading: 144.431303 deg, new cmd heading: 147.188789 deg. 2025-09-20T19:35:32.143Z,1758396932.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568929 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:32.148Z,1758396932.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761721 2025-09-20T19:35:32.400Z,1758396932.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013354 2025-09-20T19:35:32.559Z,1758396932.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:32.562Z,1758396932.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.639046 m, bearing: 196.199110 deg, approach rate: 0.132746 m/s, LOS rate: 0.795292 deg/s, cmd heading: 147.188787 deg, new cmd heading: 147.856293 deg. 2025-09-20T19:35:32.562Z,1758396932.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580579 target range: 9.856723 and range: 4.50 m. 2025-09-20T19:35:32.652Z,1758396932.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265346 2025-09-20T19:35:32.904Z,1758396932.904 [DAT](INFO): DAT read: Rx Time:19:35:35.2926 2025-09-20T19:35:32.905Z,1758396932.905 [DAT](INFO): Rx dataTimestamp_ set to:1758396932.904657 2025-09-20T19:35:32.906Z,1758396932.906 [DAT](INFO): DAT read: Bearing 53.2, 26.2 (Local) 2025-09-20T19:35:32.906Z,1758396932.906 [DAT](INFO): Local bearing/azimuth received: Bearing 53.2, 26.2 (Local) 2025-09-20T19:35:32.909Z,1758396932.909 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:35:32.917Z,1758396932.917 [DAT](INFO): DAT read: 19:35:35.2926 LVL= 18656, 22929, 15890, 22659, AGC= 52, IDX= 259, 0.36,-2.075,-2.935,-2.963,-1.037, PHS=-0.936,-1.854,-1.970, RAW= 84.1, 59.8, CAL= 82.8, 64.3, ROT= 67.2, -64.3 2025-09-20T19:35:32.918Z,1758396932.918 [DAT](INFO): got valid direction response: 19:35:35.2926 LVL= 18656, 22929, 15890, 22659, AGC= 52, IDX= 259, 0.36,-2.075,-2.935,-2.963,-1.037, PHS=-0.936,-1.854,-1.970, RAW= 84.1, 59.8, CAL= 82.8, 64.3, ROT= 67.2, -64.3 2025-09-20T19:35:32.919Z,1758396932.919 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:35:32.924Z,1758396932.924 [DAT](INFO): direction in FSK: [0.168050,0.399774,0.901077] 2025-09-20T19:35:32.924Z,1758396932.924 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:32.931Z,1758396932.931 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.544792 2025-09-20T19:35:33.029Z,1758396933.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 3.022488 s, deltaX: -0.400000 m, approachRate: -0.132341 m/s, rangeRepo size: 4 2025-09-20T19:35:33.043Z,1758396933.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081917 m, bearing: 249.684460 deg, lat: 36.779280 deg, lon: -121.859605 deg, deltaT: 25.975761 s, deltaX: -5.774806 m, approachRate: -0.222315 m/s, posRepo size: 4 2025-09-20T19:35:33.044Z,1758396933.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:35:33.051Z,1758396933.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.699723 m, bearing: 196.518021 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 147.856288 deg, new cmd heading: 146.810532 deg. 2025-09-20T19:35:33.052Z,1758396933.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562327 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:35:33.156Z,1758396933.156 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769506 2025-09-20T19:35:33.372Z,1758396933.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:33.375Z,1758396933.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:33.397Z,1758396933.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.726859 m, bearing: 196.887391 deg, approach rate: 0.078429 m/s, LOS rate: 1.050754 deg/s, cmd heading: 146.810531 deg, new cmd heading: 147.537618 deg. 2025-09-20T19:35:33.398Z,1758396933.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575017 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:35:33.408Z,1758396933.408 [DAT](INFO): DAT read: Rx Time:19:35:35.7926 2025-09-20T19:35:33.409Z,1758396933.409 [DAT](INFO): Rx dataTimestamp_ set to:1758396933.408408 2025-09-20T19:35:33.410Z,1758396933.410 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:35:33.410Z,1758396933.410 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-09-20T19:35:33.411Z,1758396933.411 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.024773 2025-09-20T19:35:33.660Z,1758396933.660 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273310 2025-09-20T19:35:33.736Z,1758396933.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:33.737Z,1758396933.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:33.740Z,1758396933.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.754172 m, bearing: 197.233749 deg, approach rate: 0.075869 m/s, LOS rate: 0.947123 deg/s, cmd heading: 147.537619 deg, new cmd heading: 148.219513 deg. 2025-09-20T19:35:33.741Z,1758396933.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586919 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:35:33.912Z,1758396933.912 [DAT](INFO): DAT read: Rx Time:19:35:36.2925 2025-09-20T19:35:33.913Z,1758396933.913 [DAT](INFO): Rx dataTimestamp_ set to:1758396933.912398 2025-09-20T19:35:33.914Z,1758396933.914 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:33.914Z,1758396933.914 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-09-20T19:35:33.915Z,1758396933.915 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.528758 2025-09-20T19:35:34.148Z,1758396934.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503990 s, deltaX: -0.200000 m, approachRate: -0.396833 m/s, rangeRepo size: 4 2025-09-20T19:35:34.149Z,1758396934.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.90 m. 2025-09-20T19:35:34.149Z,1758396934.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:34.152Z,1758396934.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.785546 m, bearing: 197.609020 deg, approach rate: 0.076016 m/s, LOS rate: 0.893266 deg/s, cmd heading: 148.219517 deg, new cmd heading: 148.956825 deg. 2025-09-20T19:35:34.153Z,1758396934.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599787 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:34.164Z,1758396934.164 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777359 2025-09-20T19:35:34.416Z,1758396934.416 [DAT](INFO): DAT read: Rx Time:19:35:36.7925 2025-09-20T19:35:34.417Z,1758396934.417 [DAT](INFO): Rx dataTimestamp_ set to:1758396934.416313 2025-09-20T19:35:34.418Z,1758396934.418 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:34.418Z,1758396934.418 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-09-20T19:35:34.419Z,1758396934.419 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.032677 2025-09-20T19:35:34.579Z,1758396934.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503915 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:34.596Z,1758396934.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.90 m. 2025-09-20T19:35:34.597Z,1758396934.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:34.603Z,1758396934.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.801309 m, bearing: 197.827995 deg, approach rate: 0.036584 m/s, LOS rate: 0.503768 deg/s, cmd heading: 148.956823 deg, new cmd heading: 149.390930 deg. 2025-09-20T19:35:34.604Z,1758396934.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607364 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:34.668Z,1758396934.668 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281704 2025-09-20T19:35:34.921Z,1758396934.921 [DAT](INFO): DAT read: Rx Time:19:35:37.2924 2025-09-20T19:35:34.921Z,1758396934.921 [DAT](INFO): Rx dataTimestamp_ set to:1758396934.920790 2025-09-20T19:35:34.922Z,1758396934.922 [DAT](INFO): DAT read: Bearing 69.6, -29.5 (Local) 2025-09-20T19:35:34.923Z,1758396934.923 [DAT](INFO): Local bearing/azimuth received: Bearing 69.6, -29.5 (Local) 2025-09-20T19:35:34.925Z,1758396934.925 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:34.929Z,1758396934.929 [DAT](INFO): DAT read: 19:35:37.2924 LVL= 15728, 25233, 13602, 24051, AGC= 52, IDX= 500, 0.22,-1.009, 0.045, 0.723, 1.607, PHS=-2.515,-1.518,-0.928, RAW= 248.4, 51.6, CAL= 250.7, 57.6, ROT= 259.3, -57.6 2025-09-20T19:35:34.930Z,1758396934.930 [DAT](INFO): got valid direction response: 19:35:37.2924 LVL= 15728, 25233, 13602, 24051, AGC= 52, IDX= 500, 0.22,-1.009, 0.045, 0.723, 1.607, PHS=-2.515,-1.518,-0.928, RAW= 248.4, 51.6, CAL= 250.7, 57.6, ROT= 259.3, -57.6 2025-09-20T19:35:34.931Z,1758396934.931 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-09-20T19:35:34.932Z,1758396934.932 [DAT](INFO): direction in FSK: [-0.099485,-0.526510,0.844328] 2025-09-20T19:35:34.932Z,1758396934.932 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:34.936Z,1758396934.936 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.549126 2025-09-20T19:35:35.038Z,1758396935.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504477 s, deltaX: -0.100000 m, approachRate: -0.198225 m/s, rangeRepo size: 4 2025-09-20T19:35:35.044Z,1758396935.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783219 m, bearing: 90.937462 deg, lat: 36.779282 deg, lon: -121.859603 deg, deltaT: 27.991894 s, deltaX: -6.073503 m, approachRate: -0.216974 m/s, posRepo size: 4 2025-09-20T19:35:35.045Z,1758396935.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:35.060Z,1758396935.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.816810 m, bearing: 198.032201 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 149.390936 deg, new cmd heading: 148.368436 deg. 2025-09-20T19:35:35.061Z,1758396935.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589518 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:35.172Z,1758396935.172 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785567 2025-09-20T19:35:35.425Z,1758396935.425 [DAT](INFO): DAT read: Rx Time:19:35:37.7925 2025-09-20T19:35:35.425Z,1758396935.425 [DAT](INFO): Rx dataTimestamp_ set to:1758396935.424848 2025-09-20T19:35:35.426Z,1758396935.426 [DAT](INFO): DAT read: Bearing 58.7, -16.0 (Local) 2025-09-20T19:35:35.427Z,1758396935.427 [DAT](INFO): Local bearing/azimuth received: Bearing 58.7, -16.0 (Local) 2025-09-20T19:35:35.429Z,1758396935.429 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:35.433Z,1758396935.433 [DAT](INFO): DAT read: 19:35:37.7925 LVL= 14832, 24033, 15810, 23923, AGC= 52, IDX= 501, 0.19, 1.401, 1.713, 2.284,-3.059, PHS=-1.722,-1.466,-0.985, RAW= 230.0, 66.3, CAL= 231.1, 70.6, ROT= 278.9, -70.6 2025-09-20T19:35:35.434Z,1758396935.434 [DAT](INFO): got valid direction response: 19:35:37.7925 LVL= 14832, 24033, 15810, 23923, AGC= 52, IDX= 501, 0.19, 1.401, 1.713, 2.284,-3.059, PHS=-1.722,-1.466,-0.985, RAW= 230.0, 66.3, CAL= 231.1, 70.6, ROT= 278.9, -70.6 2025-09-20T19:35:35.435Z,1758396935.435 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-09-20T19:35:35.436Z,1758396935.436 [DAT](INFO): direction in FSK: [0.051389,-0.328162,0.943223] 2025-09-20T19:35:35.436Z,1758396935.436 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:35.444Z,1758396935.444 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057148 2025-09-20T19:35:35.504Z,1758396935.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504058 s, deltaX: 0.100000 m, approachRate: 0.198390 m/s, rangeRepo size: 4 2025-09-20T19:35:35.506Z,1758396935.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882768 m, bearing: 109.147682 deg, lat: 36.779289 deg, lon: -121.859599 deg, deltaT: 28.495952 s, deltaX: -5.973955 m, approachRate: -0.209642 m/s, posRepo size: 4 2025-09-20T19:35:35.523Z,1758396935.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:35.526Z,1758396935.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.814028 m, bearing: 197.914154 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 148.368443 deg, new cmd heading: 147.341353 deg. 2025-09-20T19:35:35.526Z,1758396935.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571592 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:35.676Z,1758396935.676 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289387 2025-09-20T19:35:35.774Z,1758396935.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:35.783Z,1758396935.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:35.791Z,1758396935.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.812082 m, bearing: 197.832426 deg, approach rate: -0.006871 m/s, LOS rate: -0.288969 deg/s, cmd heading: 147.341346 deg, new cmd heading: 147.177715 deg. 2025-09-20T19:35:35.796Z,1758396935.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568736 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:35.929Z,1758396935.929 [DAT](INFO): DAT read: Rx Time:19:35:38.2924 2025-09-20T19:35:35.929Z,1758396935.929 [DAT](INFO): Rx dataTimestamp_ set to:1758396935.929090 2025-09-20T19:35:35.931Z,1758396935.931 [DAT](INFO): DAT read: Bearing 51.0, -10.3 (Local) 2025-09-20T19:35:35.931Z,1758396935.931 [DAT](INFO): Local bearing/azimuth received: Bearing 51.0, -10.3 (Local) 2025-09-20T19:35:35.933Z,1758396935.933 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:35.942Z,1758396935.942 [DAT](INFO): DAT read: 19:35:38.2924 LVL= 14832, 26385, 20402, 23075, AGC= 50, IDX= 500, 0.16, 1.599, 1.621, 2.284,-3.117, PHS=-1.465,-1.501,-0.926, RAW= 206.8, 67.9, CAL= 205.6, 72.5, ROT= 304.4, -72.5 2025-09-20T19:35:35.948Z,1758396935.948 [DAT](INFO): got valid direction response: 19:35:38.2924 LVL= 14832, 26385, 20402, 23075, AGC= 50, IDX= 500, 0.16, 1.599, 1.621, 2.284,-3.117, PHS=-1.465,-1.501,-0.926, RAW= 206.8, 67.9, CAL= 205.6, 72.5, ROT= 304.4, -72.5 2025-09-20T19:35:35.949Z,1758396935.949 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-09-20T19:35:35.950Z,1758396935.950 [DAT](INFO): direction in FSK: [0.169889,-0.248116,0.953717] 2025-09-20T19:35:35.950Z,1758396935.950 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:35.955Z,1758396935.955 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.568136 2025-09-20T19:35:36.180Z,1758396936.180 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793440 2025-09-20T19:35:36.189Z,1758396936.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504242 s, deltaX: -0.100000 m, approachRate: -0.198318 m/s, rangeRepo size: 4 2025-09-20T19:35:36.196Z,1758396936.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783210 m, bearing: 126.646809 deg, lat: 36.779289 deg, lon: -121.859569 deg, deltaT: 29.000194 s, deltaX: -6.073513 m, approachRate: -0.209430 m/s, posRepo size: 4 2025-09-20T19:35:36.197Z,1758396936.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:36.208Z,1758396936.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.809549 m, bearing: 197.729635 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 147.177709 deg, new cmd heading: 146.272667 deg. 2025-09-20T19:35:36.209Z,1758396936.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552940 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:36.433Z,1758396936.433 [DAT](INFO): DAT read: Rx Time:19:35:38.7925 2025-09-20T19:35:36.433Z,1758396936.433 [DAT](INFO): Rx dataTimestamp_ set to:1758396936.432777 2025-09-20T19:35:36.434Z,1758396936.434 [DAT](INFO): DAT read: Bearing 49.5, -7.1 (Local) 2025-09-20T19:35:36.435Z,1758396936.435 [DAT](INFO): Local bearing/azimuth received: Bearing 49.5, -7.1 (Local) 2025-09-20T19:35:36.437Z,1758396936.437 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:36.441Z,1758396936.441 [DAT](INFO): DAT read: 19:35:38.7925 LVL= 13456, 21409, 17138, 24899, AGC= 51, IDX= 501, 0.19, 2.770, 2.687,-2.982,-2.043, PHS=-1.368,-1.508,-0.983, RAW= 195.1, 71.0, CAL= 194.2, 74.9, ROT= 315.8, -74.9 2025-09-20T19:35:36.442Z,1758396936.442 [DAT](INFO): got valid direction response: 19:35:38.7925 LVL= 13456, 21409, 17138, 24899, AGC= 51, IDX= 501, 0.19, 2.770, 2.687,-2.982,-2.043, PHS=-1.368,-1.508,-0.983, RAW= 195.1, 71.0, CAL= 194.2, 74.9, ROT= 315.8, -74.9 2025-09-20T19:35:36.443Z,1758396936.443 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-09-20T19:35:36.444Z,1758396936.444 [DAT](INFO): direction in FSK: [0.186758,-0.181615,0.965473] 2025-09-20T19:35:36.444Z,1758396936.444 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:36.448Z,1758396936.448 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.061507 2025-09-20T19:35:36.628Z,1758396936.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503687 s, deltaX: 0.100000 m, approachRate: 0.198536 m/s, rangeRepo size: 4 2025-09-20T19:35:36.630Z,1758396936.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882771 m, bearing: 136.260156 deg, lat: 36.779289 deg, lon: -121.859569 deg, deltaT: 29.503881 s, deltaX: -5.973951 m, approachRate: -0.202480 m/s, posRepo size: 4 2025-09-20T19:35:36.635Z,1758396936.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:36.638Z,1758396936.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.785128 m, bearing: 197.636048 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 146.272667 deg, new cmd heading: 145.295719 deg. 2025-09-20T19:35:36.643Z,1758396936.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535889 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:36.684Z,1758396936.684 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297656 2025-09-20T19:35:36.937Z,1758396936.937 [DAT](INFO): DAT read: Rx Time:19:35:39.2924 2025-09-20T19:35:36.937Z,1758396936.937 [DAT](INFO): Rx dataTimestamp_ set to:1758396936.936718 2025-09-20T19:35:36.938Z,1758396936.938 [DAT](INFO): DAT read: Bearing 48.3, -13.9 (Local) 2025-09-20T19:35:36.939Z,1758396936.939 [DAT](INFO): Local bearing/azimuth received: Bearing 48.3, -13.9 (Local) 2025-09-20T19:35:36.941Z,1758396936.941 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:36.945Z,1758396936.945 [DAT](INFO): DAT read: 19:35:39.2924 LVL= 15456, 23777, 20674, 24723, AGC= 50, IDX= 500, 0.21, 2.164, 2.170, 2.904,-2.563, PHS=-1.454,-1.505,-0.860, RAW= 205.9, 65.3, CAL= 204.6, 70.4, ROT= 305.4, -70.4 2025-09-20T19:35:36.946Z,1758396936.946 [DAT](INFO): got valid direction response: 19:35:39.2924 LVL= 15456, 23777, 20674, 24723, AGC= 50, IDX= 500, 0.21, 2.164, 2.170, 2.904,-2.563, PHS=-1.454,-1.505,-0.860, RAW= 205.9, 65.3, CAL= 204.6, 70.4, ROT= 305.4, -70.4 2025-09-20T19:35:36.947Z,1758396936.947 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-09-20T19:35:36.948Z,1758396936.948 [DAT](INFO): direction in FSK: [0.194321,-0.273436,0.942057] 2025-09-20T19:35:36.949Z,1758396936.949 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:36.991Z,1758396936.991 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.604592 2025-09-20T19:35:37.111Z,1758396937.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503941 s, deltaX: -0.100000 m, approachRate: -0.198436 m/s, rangeRepo size: 4 2025-09-20T19:35:37.113Z,1758396937.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783213 m, bearing: 128.822337 deg, lat: 36.779288 deg, lon: -121.859569 deg, deltaT: 30.007822 s, deltaX: -6.073510 m, approachRate: -0.202398 m/s, posRepo size: 4 2025-09-20T19:35:37.114Z,1758396937.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:37.121Z,1758396937.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.758400 m, bearing: 197.542086 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 145.295718 deg, new cmd heading: 144.229977 deg. 2025-09-20T19:35:37.122Z,1758396937.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517288 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:37.188Z,1758396937.188 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801446 2025-09-20T19:35:37.441Z,1758396937.441 [DAT](INFO): DAT read: Rx Time:19:35:39.7925 2025-09-20T19:35:37.441Z,1758396937.441 [DAT](INFO): Rx dataTimestamp_ set to:1758396937.441067 2025-09-20T19:35:37.443Z,1758396937.443 [DAT](INFO): DAT read: Bearing 47.6, -10.1 (Local) 2025-09-20T19:35:37.444Z,1758396937.444 [DAT](INFO): Local bearing/azimuth received: Bearing 47.6, -10.1 (Local) 2025-09-20T19:35:37.446Z,1758396937.446 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:37.450Z,1758396937.450 [DAT](INFO): DAT read: 19:35:39.7925 LVL= 17744, 17969, 15602, 23651, AGC= 50, IDX= 501, 0.32, 2.712, 2.637,-2.980,-2.095, PHS=-1.373,-1.506,-0.929, RAW= 197.3, 68.8, CAL= 196.3, 73.2, ROT= 313.7, -73.2 2025-09-20T19:35:37.452Z,1758396937.452 [DAT](INFO): got valid direction response: 19:35:39.7925 LVL= 17744, 17969, 15602, 23651, AGC= 50, IDX= 501, 0.32, 2.712, 2.637,-2.980,-2.095, PHS=-1.373,-1.506,-0.929, RAW= 197.3, 68.8, CAL= 196.3, 73.2, ROT= 313.7, -73.2 2025-09-20T19:35:37.452Z,1758396937.452 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-09-20T19:35:37.453Z,1758396937.453 [DAT](INFO): direction in FSK: [0.199687,-0.208960,0.957319] 2025-09-20T19:35:37.453Z,1758396937.453 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:37.457Z,1758396937.457 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.070197 2025-09-20T19:35:37.527Z,1758396937.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504349 s, deltaX: 0.100000 m, approachRate: 0.198276 m/s, rangeRepo size: 4 2025-09-20T19:35:37.537Z,1758396937.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882786 m, bearing: 134.686350 deg, lat: 36.779288 deg, lon: -121.859569 deg, deltaT: 30.512171 s, deltaX: -5.973937 m, approachRate: -0.195789 m/s, posRepo size: 4 2025-09-20T19:35:37.538Z,1758396937.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:37.545Z,1758396937.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.719239 m, bearing: 197.133919 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 144.229976 deg, new cmd heading: 143.296230 deg. 2025-09-20T19:35:37.546Z,1758396937.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500991 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:37.692Z,1758396937.692 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305508 2025-09-20T19:35:37.821Z,1758396937.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:37.828Z,1758396937.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:37.830Z,1758396937.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.686326 m, bearing: 196.784756 deg, approach rate: -0.109138 m/s, LOS rate: -1.180398 deg/s, cmd heading: 143.296235 deg, new cmd heading: 142.584319 deg. 2025-09-20T19:35:37.837Z,1758396937.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.488566 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:37.946Z,1758396937.946 [DAT](INFO): DAT read: Rx Time:19:35:40.2924 2025-09-20T19:35:37.946Z,1758396937.946 [DAT](INFO): Rx dataTimestamp_ set to:1758396937.946093 2025-09-20T19:35:37.948Z,1758396937.948 [DAT](INFO): DAT read: Bearing 41.5, -7.7 (Local) 2025-09-20T19:35:37.949Z,1758396937.949 [DAT](INFO): Local bearing/azimuth received: Bearing 41.5, -7.7 (Local) 2025-09-20T19:35:37.953Z,1758396937.953 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:37.960Z,1758396937.960 [DAT](INFO): DAT read: 19:35:40.2924 LVL= 15296, 19153, 18306, 26499, AGC= 52, IDX= 501,-0.48,-0.289,-0.591, 0.224, 1.073, PHS=-1.260,-1.619,-0.893, RAW= 180.4, 64.8, CAL= 180.2, 70.1, ROT= 329.8, -70.1 2025-09-20T19:35:37.962Z,1758396937.962 [DAT](INFO): got valid direction response: 19:35:40.2924 LVL= 15296, 19153, 18306, 26499, AGC= 52, IDX= 501,-0.48,-0.289,-0.591, 0.224, 1.073, PHS=-1.260,-1.619,-0.893, RAW= 180.4, 64.8, CAL= 180.2, 70.1, ROT= 329.8, -70.1 2025-09-20T19:35:37.963Z,1758396937.963 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-09-20T19:35:37.966Z,1758396937.966 [DAT](INFO): direction in FSK: [0.294181,-0.171218,0.940288] 2025-09-20T19:35:37.966Z,1758396937.966 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:37.990Z,1758396937.990 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.602879 2025-09-20T19:35:38.196Z,1758396938.196 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809594 2025-09-20T19:35:38.236Z,1758396938.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.505026 s, deltaX: -0.100000 m, approachRate: -0.198010 m/s, rangeRepo size: 4 2025-09-20T19:35:38.238Z,1758396938.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783227 m, bearing: 150.200205 deg, lat: 36.779287 deg, lon: -121.859572 deg, deltaT: 31.017197 s, deltaX: -6.073496 m, approachRate: -0.195811 m/s, posRepo size: 4 2025-09-20T19:35:38.239Z,1758396938.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:38.241Z,1758396938.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.646443 m, bearing: 196.357092 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 142.584324 deg, new cmd heading: 141.677819 deg. 2025-09-20T19:35:38.242Z,1758396938.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472744 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:38.449Z,1758396938.449 [DAT](INFO): DAT read: Rx Time:19:35:40.7925 2025-09-20T19:35:38.449Z,1758396938.449 [DAT](INFO): Rx dataTimestamp_ set to:1758396938.448902 2025-09-20T19:35:38.450Z,1758396938.450 [DAT](INFO): DAT read: Bearing 38.9, -7.4 (Local) 2025-09-20T19:35:38.451Z,1758396938.451 [DAT](INFO): Local bearing/azimuth received: Bearing 38.9, -7.4 (Local) 2025-09-20T19:35:38.453Z,1758396938.453 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:38.459Z,1758396938.459 [DAT](INFO): DAT read: 19:35:40.7925 LVL= 14256, 17393, 16818, 21747, AGC= 50, IDX= 501,-0.41, 0.477, 0.082, 0.937, 1.773, PHS=-1.194,-1.646,-0.879, RAW= 174.1, 63.1, CAL= 174.4, 68.8, ROT= 335.6, -68.8 2025-09-20T19:35:38.461Z,1758396938.461 [DAT](INFO): got valid direction response: 19:35:40.7925 LVL= 14256, 17393, 16818, 21747, AGC= 50, IDX= 501,-0.41, 0.477, 0.082, 0.937, 1.773, PHS=-1.194,-1.646,-0.879, RAW= 174.1, 63.1, CAL= 174.4, 68.8, ROT= 335.6, -68.8 2025-09-20T19:35:38.462Z,1758396938.462 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-09-20T19:35:38.466Z,1758396938.466 [DAT](INFO): direction in FSK: [0.329326,-0.149389,0.932324] 2025-09-20T19:35:38.467Z,1758396938.467 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:38.481Z,1758396938.481 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.093877 2025-09-20T19:35:38.647Z,1758396938.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502809 s, deltaX: 0.100000 m, approachRate: 0.198883 m/s, rangeRepo size: 4 2025-09-20T19:35:38.649Z,1758396938.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882792 m, bearing: 157.212747 deg, lat: 36.779287 deg, lon: -121.859572 deg, deltaT: 31.520006 s, deltaX: -5.973930 m, approachRate: -0.189528 m/s, posRepo size: 4 2025-09-20T19:35:38.650Z,1758396938.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:38.661Z,1758396938.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.591435 m, bearing: 196.153090 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 141.677822 deg, new cmd heading: 140.762017 deg. 2025-09-20T19:35:38.662Z,1758396938.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456761 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:38.700Z,1758396938.700 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313436 2025-09-20T19:35:38.953Z,1758396938.953 [DAT](INFO): DAT read: Rx Time:19:35:41.2924 2025-09-20T19:35:38.953Z,1758396938.953 [DAT](INFO): Rx dataTimestamp_ set to:1758396938.952723 2025-09-20T19:35:38.954Z,1758396938.954 [DAT](INFO): DAT read: Bearing 38.8, -7.2 (Local) 2025-09-20T19:35:38.955Z,1758396938.955 [DAT](INFO): Local bearing/azimuth received: Bearing 38.8, -7.2 (Local) 2025-09-20T19:35:38.960Z,1758396938.960 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:38.968Z,1758396938.968 [DAT](INFO): DAT read: 19:35:41.2924 LVL= 14096, 17265, 16210, 23443, AGC= 51, IDX= 500,-0.24,-1.220,-1.606,-0.775, 0.069, PHS=-1.187,-1.629,-0.888, RAW= 173.6, 63.7, CAL= 173.9, 69.4, ROT= 336.1, -69.4 2025-09-20T19:35:38.970Z,1758396938.970 [DAT](INFO): got valid direction response: 19:35:41.2924 LVL= 14096, 17265, 16210, 23443, AGC= 51, IDX= 500,-0.24,-1.220,-1.606,-0.775, 0.069, PHS=-1.187,-1.629,-0.888, RAW= 173.6, 63.7, CAL= 173.9, 69.4, ROT= 336.1, -69.4 2025-09-20T19:35:38.971Z,1758396938.971 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-09-20T19:35:38.972Z,1758396938.972 [DAT](INFO): direction in FSK: [0.321673,-0.142546,0.936060] 2025-09-20T19:35:38.973Z,1758396938.973 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:39.015Z,1758396939.015 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.620122 2025-09-20T19:35:39.089Z,1758396939.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503821 s, deltaX: -0.100000 m, approachRate: -0.198483 m/s, rangeRepo size: 4 2025-09-20T19:35:39.091Z,1758396939.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783234 m, bearing: 156.916492 deg, lat: 36.779284 deg, lon: -121.859575 deg, deltaT: 32.023827 s, deltaX: -6.073489 m, approachRate: -0.189655 m/s, posRepo size: 4 2025-09-20T19:35:39.096Z,1758396939.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:39.098Z,1758396939.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.538333 m, bearing: 195.955261 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 140.762016 deg, new cmd heading: 139.779151 deg. 2025-09-20T19:35:39.103Z,1758396939.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439606 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:39.204Z,1758396939.204 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817395 2025-09-20T19:35:39.458Z,1758396939.458 [DAT](INFO): DAT read: Rx Time:19:35:41.7925 2025-09-20T19:35:39.459Z,1758396939.459 [DAT](INFO): Rx dataTimestamp_ set to:1758396939.458664 2025-09-20T19:35:39.462Z,1758396939.462 [DAT](INFO): DAT read: Bearing 39.6, -7.0 (Local) 2025-09-20T19:35:39.462Z,1758396939.462 [DAT](INFO): Local bearing/azimuth received: Bearing 39.6, -7.0 (Local) 2025-09-20T19:35:39.466Z,1758396939.466 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:39.488Z,1758396939.488 [DAT](INFO): DAT read: 19:35:41.7925 LVL= 15440, 17761, 17682, 22371, AGC= 50, IDX= 501,-0.11, 0.423, 0.081, 0.893, 1.763, PHS=-1.238,-1.637,-0.915, RAW= 176.5, 64.9, CAL= 176.6, 70.2, ROT= 333.4, -70.2 2025-09-20T19:35:39.489Z,1758396939.489 [DAT](INFO): got valid direction response: 19:35:41.7925 LVL= 15440, 17761, 17682, 22371, AGC= 50, IDX= 501,-0.11, 0.423, 0.081, 0.893, 1.763, PHS=-1.238,-1.637,-0.915, RAW= 176.5, 64.9, CAL= 176.6, 70.2, ROT= 333.4, -70.2 2025-09-20T19:35:39.490Z,1758396939.490 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-09-20T19:35:39.491Z,1758396939.491 [DAT](INFO): direction in FSK: [0.302884,-0.151673,0.940881] 2025-09-20T19:35:39.503Z,1758396939.503 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:39.507Z,1758396939.507 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.119867 2025-09-20T19:35:39.606Z,1758396939.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.505941 s, deltaX: 0.100000 m, approachRate: 0.197652 m/s, rangeRepo size: 4 2025-09-20T19:35:39.612Z,1758396939.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882752 m, bearing: 151.833708 deg, lat: 36.779283 deg, lon: -121.859576 deg, deltaT: 32.529768 s, deltaX: -5.973971 m, approachRate: -0.183646 m/s, posRepo size: 4 2025-09-20T19:35:39.613Z,1758396939.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:39.620Z,1758396939.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.486562 m, bearing: 196.177848 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 139.779152 deg, new cmd heading: 138.628250 deg. 2025-09-20T19:35:39.621Z,1758396939.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419519 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:39.709Z,1758396939.709 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.322249 2025-09-20T19:35:39.922Z,1758396939.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:39.929Z,1758396939.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:39.935Z,1758396939.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.452005 m, bearing: 196.344135 deg, approach rate: -0.106938 m/s, LOS rate: 0.526832 deg/s, cmd heading: 138.628251 deg, new cmd heading: 138.968738 deg. 2025-09-20T19:35:39.936Z,1758396939.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425462 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:39.962Z,1758396939.962 [DAT](INFO): DAT read: Rx Time:19:35:42.2924 2025-09-20T19:35:39.963Z,1758396939.963 [DAT](INFO): Rx dataTimestamp_ set to:1758396939.962458 2025-09-20T19:35:39.965Z,1758396939.965 [DAT](INFO): DAT read: Bearing 43.9, -10.2 (Local) 2025-09-20T19:35:39.966Z,1758396939.966 [DAT](INFO): Local bearing/azimuth received: Bearing 43.9, -10.2 (Local) 2025-09-20T19:35:39.969Z,1758396939.969 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:39.976Z,1758396939.976 [DAT](INFO): DAT read: 19:35:42.2924 LVL= 15824, 18641, 18290, 26771, AGC= 52, IDX= 500, 0.04, 0.240, 0.140, 0.872, 1.739, PHS=-1.397,-1.554,-0.911, RAW= 196.5, 67.0, CAL= 195.4, 71.8, ROT= 314.6, -71.8 2025-09-20T19:35:39.977Z,1758396939.977 [DAT](INFO): got valid direction response: 19:35:42.2924 LVL= 15824, 18641, 18290, 26771, AGC= 52, IDX= 500, 0.04, 0.240, 0.140, 0.872, 1.739, PHS=-1.397,-1.554,-0.911, RAW= 196.5, 67.0, CAL= 195.4, 71.8, ROT= 314.6, -71.8 2025-09-20T19:35:39.978Z,1758396939.978 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-09-20T19:35:39.980Z,1758396939.980 [DAT](INFO): direction in FSK: [0.219307,-0.222391,0.949972] 2025-09-20T19:35:39.980Z,1758396939.980 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:39.988Z,1758396939.988 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.601119 2025-09-20T19:35:40.212Z,1758396940.212 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825302 2025-09-20T19:35:40.371Z,1758396940.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503794 s, deltaX: -0.100000 m, approachRate: -0.198494 m/s, rangeRepo size: 4 2025-09-20T19:35:40.393Z,1758396940.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783194 m, bearing: 127.254909 deg, lat: 36.779283 deg, lon: -121.859576 deg, deltaT: 33.033562 s, deltaX: -6.073529 m, approachRate: -0.183859 m/s, posRepo size: 4 2025-09-20T19:35:40.403Z,1758396940.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:40.406Z,1758396940.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.413939 m, bearing: 196.561202 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 138.968736 deg, new cmd heading: 138.031705 deg. 2025-09-20T19:35:40.415Z,1758396940.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409108 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:40.467Z,1758396940.467 [DAT](INFO): DAT read: Rx Time:19:35:42.7925 2025-09-20T19:35:40.468Z,1758396940.468 [DAT](INFO): Rx dataTimestamp_ set to:1758396940.467529 2025-09-20T19:35:40.470Z,1758396940.470 [DAT](INFO): DAT read: Bearing 45.1, -12.4 (Local) 2025-09-20T19:35:40.471Z,1758396940.471 [DAT](INFO): Local bearing/azimuth received: Bearing 45.1, -12.4 (Local) 2025-09-20T19:35:40.475Z,1758396940.475 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:40.482Z,1758396940.482 [DAT](INFO): DAT read: 19:35:42.7925 LVL= 16816, 21681, 18002, 25123, AGC= 50, IDX= 501, 0.14, 1.784, 1.793, 2.517,-2.933, PHS=-1.464,-1.511,-0.877, RAW= 206.1, 65.8, CAL= 204.8, 70.8, ROT= 305.2, -70.8 2025-09-20T19:35:40.484Z,1758396940.484 [DAT](INFO): got valid direction response: 19:35:42.7925 LVL= 16816, 21681, 18002, 25123, AGC= 50, IDX= 501, 0.14, 1.784, 1.793, 2.517,-2.933, PHS=-1.464,-1.511,-0.877, RAW= 206.1, 65.8, CAL= 204.8, 70.8, ROT= 305.2, -70.8 2025-09-20T19:35:40.485Z,1758396940.485 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-09-20T19:35:40.486Z,1758396940.486 [DAT](INFO): direction in FSK: [0.189569,-0.268732,0.944376] 2025-09-20T19:35:40.486Z,1758396940.486 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:40.490Z,1758396940.490 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.103474 2025-09-20T19:35:40.716Z,1758396940.716 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.329322 2025-09-20T19:35:40.815Z,1758396940.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.505071 s, deltaX: 0.100000 m, approachRate: 0.197992 m/s, rangeRepo size: 4 2025-09-20T19:35:40.817Z,1758396940.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882742 m, bearing: 118.656259 deg, lat: 36.779283 deg, lon: -121.859576 deg, deltaT: 33.538633 s, deltaX: -5.973981 m, approachRate: -0.178122 m/s, posRepo size: 4 2025-09-20T19:35:40.818Z,1758396940.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:40.825Z,1758396940.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.359811 m, bearing: 196.718411 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 138.031703 deg, new cmd heading: 137.007034 deg. 2025-09-20T19:35:40.825Z,1758396940.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391224 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:40.970Z,1758396940.970 [DAT](INFO): DAT read: Rx Time:19:35:43.2924 2025-09-20T19:35:40.970Z,1758396940.970 [DAT](INFO): Rx dataTimestamp_ set to:1758396940.970193 2025-09-20T19:35:40.973Z,1758396940.973 [DAT](INFO): DAT read: Bearing 44.1, -10.5 (Local) 2025-09-20T19:35:40.973Z,1758396940.973 [DAT](INFO): Local bearing/azimuth received: Bearing 44.1, -10.5 (Local) 2025-09-20T19:35:40.977Z,1758396940.977 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:40.985Z,1758396940.985 [DAT](INFO): DAT read: 19:35:43.2924 LVL= 16304, 19505, 17650, 26467, AGC= 52, IDX= 500, 0.29, 0.888, 0.845, 1.549, 2.417, PHS=-1.426,-1.527,-0.912, RAW= 201.2, 67.3, CAL= 199.9, 72.0, ROT= 310.1, -72.0 2025-09-20T19:35:40.986Z,1758396940.986 [DAT](INFO): got valid direction response: 19:35:43.2924 LVL= 16304, 19505, 17650, 26467, AGC= 52, IDX= 500, 0.29, 0.888, 0.845, 1.549, 2.417, PHS=-1.426,-1.527,-0.912, RAW= 201.2, 67.3, CAL= 199.9, 72.0, ROT= 310.1, -72.0 2025-09-20T19:35:40.986Z,1758396940.986 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-09-20T19:35:40.988Z,1758396940.988 [DAT](INFO): direction in FSK: [0.199045,-0.236374,0.951057] 2025-09-20T19:35:40.988Z,1758396940.988 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:40.992Z,1758396940.992 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.605647 2025-09-20T19:35:41.220Z,1758396941.220 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.833670 2025-09-20T19:35:41.235Z,1758396941.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.502664 s, deltaX: -0.100000 m, approachRate: -0.198940 m/s, rangeRepo size: 4 2025-09-20T19:35:41.237Z,1758396941.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783185 m, bearing: 122.446197 deg, lat: 36.779285 deg, lon: -121.859571 deg, deltaT: 34.041297 s, deltaX: -6.073538 m, approachRate: -0.178417 m/s, posRepo size: 4 2025-09-20T19:35:41.238Z,1758396941.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:41.249Z,1758396941.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.310691 m, bearing: 196.886555 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 137.007038 deg, new cmd heading: 136.071195 deg. 2025-09-20T19:35:41.250Z,1758396941.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374890 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:41.476Z,1758396941.476 [DAT](INFO): DAT read: Rx Time:19:35:43.7925 2025-09-20T19:35:41.477Z,1758396941.477 [DAT](INFO): Rx dataTimestamp_ set to:1758396941.476044 2025-09-20T19:35:41.479Z,1758396941.479 [DAT](INFO): DAT read: Bearing 40.4, -7.5 (Local) 2025-09-20T19:35:41.479Z,1758396941.479 [DAT](INFO): Local bearing/azimuth received: Bearing 40.4, -7.5 (Local) 2025-09-20T19:35:41.482Z,1758396941.482 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:41.487Z,1758396941.487 [DAT](INFO): DAT read: 19:35:43.7925 LVL= 16480, 18801, 18642, 25587, AGC= 52, IDX= 502,-0.45, 0.154,-0.062, 0.685, 1.573, PHS=-1.316,-1.589,-0.932, RAW= 185.6, 67.1, CAL= 185.1, 71.9, ROT= 324.9, -71.9 2025-09-20T19:35:41.488Z,1758396941.488 [DAT](INFO): got valid direction response: 19:35:43.7925 LVL= 16480, 18801, 18642, 25587, AGC= 52, IDX= 502,-0.45, 0.154,-0.062, 0.685, 1.573, PHS=-1.316,-1.589,-0.932, RAW= 185.6, 67.1, CAL= 185.1, 71.9, ROT= 324.9, -71.9 2025-09-20T19:35:41.489Z,1758396941.489 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-09-20T19:35:41.490Z,1758396941.490 [DAT](INFO): direction in FSK: [0.254180,-0.178641,0.950516] 2025-09-20T19:35:41.490Z,1758396941.490 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:41.493Z,1758396941.493 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.106781 2025-09-20T19:35:41.668Z,1758396941.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.505851 s, deltaX: 0.100000 m, approachRate: 0.197687 m/s, rangeRepo size: 4 2025-09-20T19:35:41.670Z,1758396941.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882790 m, bearing: 136.549419 deg, lat: 36.779285 deg, lon: -121.859571 deg, deltaT: 34.547148 s, deltaX: -5.973933 m, approachRate: -0.172921 m/s, posRepo size: 4 2025-09-20T19:35:41.675Z,1758396941.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:41.678Z,1758396941.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.279374 m, bearing: 197.223260 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 136.071193 deg, new cmd heading: 135.107842 deg. 2025-09-20T19:35:41.679Z,1758396941.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358077 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:41.725Z,1758396941.725 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.338677 2025-09-20T19:35:41.978Z,1758396941.978 [DAT](INFO): DAT read: Rx Time:19:35:44.2925 2025-09-20T19:35:41.979Z,1758396941.979 [DAT](INFO): Rx dataTimestamp_ set to:1758396941.978219 2025-09-20T19:35:41.981Z,1758396941.981 [DAT](INFO): DAT read: Bearing 38.1, -4.4 (Local) 2025-09-20T19:35:41.981Z,1758396941.981 [DAT](INFO): Local bearing/azimuth received: Bearing 38.1, -4.4 (Local) 2025-09-20T19:35:41.983Z,1758396941.983 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:41.988Z,1758396941.988 [DAT](INFO): DAT read: 19:35:44.2925 LVL= 14064, 16593, 16146, 22739, AGC= 51, IDX= 501,-0.31,-1.367,-1.713,-0.974,-0.051, PHS=-1.215,-1.618,-0.967, RAW= 172.1, 67.1, CAL= 172.5, 72.0, ROT= 337.5, -72.0 2025-09-20T19:35:41.989Z,1758396941.989 [DAT](INFO): got valid direction response: 19:35:44.2925 LVL= 14064, 16593, 16146, 22739, AGC= 51, IDX= 501,-0.31,-1.367,-1.713,-0.974,-0.051, PHS=-1.215,-1.618,-0.967, RAW= 172.1, 67.1, CAL= 172.5, 72.0, ROT= 337.5, -72.0 2025-09-20T19:35:41.989Z,1758396941.989 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-09-20T19:35:41.990Z,1758396941.990 [DAT](INFO): direction in FSK: [0.285494,-0.118256,0.951057] 2025-09-20T19:35:41.991Z,1758396941.991 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:41.995Z,1758396941.995 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.608148 2025-09-20T19:35:42.053Z,1758396942.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502175 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:42.064Z,1758396942.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882790 m, bearing: 149.474289 deg, lat: 36.779285 deg, lon: -121.859571 deg, deltaT: 35.049323 s, deltaX: -5.973933 m, approachRate: -0.170444 m/s, posRepo size: 4 2025-09-20T19:35:42.065Z,1758396942.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:42.075Z,1758396942.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.251481 m, bearing: 197.557743 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 135.107835 deg, new cmd heading: 134.240846 deg. 2025-09-20T19:35:42.076Z,1758396942.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342945 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:42.229Z,1758396942.229 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.842012 2025-09-20T19:35:42.481Z,1758396942.481 [DAT](INFO): DAT read: Rx Time:19:35:44.7925 2025-09-20T19:35:42.482Z,1758396942.482 [DAT](INFO): Rx dataTimestamp_ set to:1758396942.481452 2025-09-20T19:35:42.483Z,1758396942.483 [DAT](INFO): DAT read: Bearing 38.7, -6.3 (Local) 2025-09-20T19:35:42.483Z,1758396942.483 [DAT](INFO): Local bearing/azimuth received: Bearing 38.7, -6.3 (Local) 2025-09-20T19:35:42.485Z,1758396942.485 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:42.490Z,1758396942.490 [DAT](INFO): DAT read: 19:35:44.7925 LVL= 15008, 19041, 16834, 25315, AGC= 52, IDX= 501,-0.17,-1.244,-1.511,-0.780, 0.133, PHS=-1.275,-1.599,-0.957, RAW= 179.7, 67.7, CAL= 179.6, 72.4, ROT= 330.4, -72.4 2025-09-20T19:35:42.494Z,1758396942.494 [DAT](INFO): got valid direction response: 19:35:44.7925 LVL= 15008, 19041, 16834, 25315, AGC= 52, IDX= 501,-0.17,-1.244,-1.511,-0.780, 0.133, PHS=-1.275,-1.599,-0.957, RAW= 179.7, 67.7, CAL= 179.6, 72.4, ROT= 330.4, -72.4 2025-09-20T19:35:42.494Z,1758396942.494 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-09-20T19:35:42.500Z,1758396942.500 [DAT](INFO): direction in FSK: [0.262909,-0.149353,0.953191] 2025-09-20T19:35:42.503Z,1758396942.503 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:42.518Z,1758396942.518 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.131627 2025-09-20T19:35:42.591Z,1758396942.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:42.593Z,1758396942.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882812 m, bearing: 141.311173 deg, lat: 36.779283 deg, lon: -121.859574 deg, deltaT: 35.552556 s, deltaX: -5.973910 m, approachRate: -0.168030 m/s, posRepo size: 4 2025-09-20T19:35:42.594Z,1758396942.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:42.605Z,1758396942.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.226335 m, bearing: 198.239997 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 134.240852 deg, new cmd heading: 133.053142 deg. 2025-09-20T19:35:42.606Z,1758396942.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322215 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:42.734Z,1758396942.734 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.347409 2025-09-20T19:35:42.860Z,1758396942.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:42.870Z,1758396942.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:42.895Z,1758396942.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.212129 m, bearing: 198.648596 deg, approach rate: -0.050419 m/s, LOS rate: 1.467213 deg/s, cmd heading: 133.053137 deg, new cmd heading: 133.879848 deg. 2025-09-20T19:35:42.900Z,1758396942.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336644 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:42.987Z,1758396942.987 [DAT](INFO): DAT read: Rx Time:19:35:45.2924 2025-09-20T19:35:42.988Z,1758396942.988 [DAT](INFO): Rx dataTimestamp_ set to:1758396942.987666 2025-09-20T19:35:42.990Z,1758396942.990 [DAT](INFO): DAT read: Bearing 40.3, -9.4 (Local) 2025-09-20T19:35:42.990Z,1758396942.990 [DAT](INFO): Local bearing/azimuth received: Bearing 40.3, -9.4 (Local) 2025-09-20T19:35:42.993Z,1758396942.993 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:42.996Z,1758396942.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:35:43.000Z,1758396943.000 [DAT](INFO): DAT read: 19:35:45.2924 LVL= 15248, 19121, 16978, 25299, AGC= 52, IDX= 500,-0.06,-2.311,-2.439,-1.725,-0.846, PHS=-1.363,-1.548,-0.923, RAW= 193.3, 67.7, CAL= 192.3, 72.4, ROT= 317.7, -72.4 2025-09-20T19:35:43.001Z,1758396943.001 [DAT](INFO): got valid direction response: 19:35:45.2924 LVL= 15248, 19121, 16978, 25299, AGC= 52, IDX= 500,-0.06,-2.311,-2.439,-1.725,-0.846, PHS=-1.363,-1.548,-0.923, RAW= 193.3, 67.7, CAL= 192.3, 72.4, ROT= 317.7, -72.4 2025-09-20T19:35:43.002Z,1758396943.002 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-09-20T19:35:43.003Z,1758396943.003 [DAT](INFO): direction in FSK: [0.223642,-0.203499,0.953191] 2025-09-20T19:35:43.003Z,1758396943.003 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:43.006Z,1758396943.006 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.619821 2025-09-20T19:35:43.236Z,1758396943.236 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849369 2025-09-20T19:35:43.260Z,1758396943.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.506214 s, deltaX: -0.100000 m, approachRate: -0.197545 m/s, rangeRepo size: 4 2025-09-20T19:35:43.262Z,1758396943.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783253 m, bearing: 127.195805 deg, lat: 36.779283 deg, lon: -121.859574 deg, deltaT: 36.058770 s, deltaX: -6.073470 m, approachRate: -0.168433 m/s, posRepo size: 4 2025-09-20T19:35:43.264Z,1758396943.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:43.266Z,1758396943.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.192450 m, bearing: 199.246799 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 133.879849 deg, new cmd heading: 133.008165 deg. 2025-09-20T19:35:43.267Z,1758396943.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321430 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:43.489Z,1758396943.489 [DAT](INFO): DAT read: Rx Time:19:35:45.7925 2025-09-20T19:35:43.489Z,1758396943.489 [DAT](INFO): Rx dataTimestamp_ set to:1758396943.488875 2025-09-20T19:35:43.490Z,1758396943.490 [DAT](INFO): DAT read: Bearing 42.0, -12.4 (Local) 2025-09-20T19:35:43.491Z,1758396943.491 [DAT](INFO): Local bearing/azimuth received: Bearing 42.0, -12.4 (Local) 2025-09-20T19:35:43.493Z,1758396943.493 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:43.498Z,1758396943.498 [DAT](INFO): DAT read: 19:35:45.7925 LVL= 15072, 19361, 15778, 25795, AGC= 52, IDX= 501, 0.00, 0.300, 0.313, 1.003, 1.874, PHS=-1.472,-1.516,-0.915, RAW= 206.3, 67.2, CAL= 205.0, 71.9, ROT= 305.0, -71.9 2025-09-20T19:35:43.499Z,1758396943.499 [DAT](INFO): got valid direction response: 19:35:45.7925 LVL= 15072, 19361, 15778, 25795, AGC= 52, IDX= 501, 0.00, 0.300, 0.313, 1.003, 1.874, PHS=-1.472,-1.516,-0.915, RAW= 206.3, 67.2, CAL= 205.0, 71.9, ROT= 305.0, -71.9 2025-09-20T19:35:43.500Z,1758396943.500 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-09-20T19:35:43.501Z,1758396943.501 [DAT](INFO): direction in FSK: [0.178197,-0.254491,0.950516] 2025-09-20T19:35:43.501Z,1758396943.501 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:43.505Z,1758396943.505 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.117933 2025-09-20T19:35:43.696Z,1758396943.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.501209 s, deltaX: 0.100000 m, approachRate: 0.199518 m/s, rangeRepo size: 4 2025-09-20T19:35:43.698Z,1758396943.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882811 m, bearing: 115.098185 deg, lat: 36.779283 deg, lon: -121.859574 deg, deltaT: 36.559979 s, deltaX: -5.973912 m, approachRate: -0.163400 m/s, posRepo size: 4 2025-09-20T19:35:43.711Z,1758396943.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:43.713Z,1758396943.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.185740 m, bearing: 199.789988 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 133.008167 deg, new cmd heading: 132.057546 deg. 2025-09-20T19:35:43.714Z,1758396943.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304839 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:43.741Z,1758396943.741 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353902 2025-09-20T19:35:43.993Z,1758396943.993 [DAT](INFO): DAT read: Rx Time:19:35:46.2924 2025-09-20T19:35:43.993Z,1758396943.993 [DAT](INFO): Rx dataTimestamp_ set to:1758396943.992727 2025-09-20T19:35:43.994Z,1758396943.994 [DAT](INFO): DAT read: Bearing 45.8, -19.3 (Local) 2025-09-20T19:35:43.995Z,1758396943.995 [DAT](INFO): Local bearing/azimuth received: Bearing 45.8, -19.3 (Local) 2025-09-20T19:35:43.997Z,1758396943.997 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:43.999Z,1758396943.999 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:35:44.002Z,1758396944.002 [DAT](INFO): DAT read: 19:35:46.2924 LVL= 14896, 20209, 16882, 25219, AGC= 52, IDX= 500, 0.11,-0.170, 0.103, 0.784, 1.595, PHS=-1.663,-1.447,-0.855, RAW= 225.0, 62.7, CAL= 225.6, 67.9, ROT= 284.4, -67.9 2025-09-20T19:35:44.028Z,1758396944.028 [DAT](INFO): got valid direction response: 19:35:46.2924 LVL= 14896, 20209, 16882, 25219, AGC= 52, IDX= 500, 0.11,-0.170, 0.103, 0.784, 1.595, PHS=-1.663,-1.447,-0.855, RAW= 225.0, 62.7, CAL= 225.6, 67.9, ROT= 284.4, -67.9 2025-09-20T19:35:44.028Z,1758396944.028 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-09-20T19:35:44.029Z,1758396944.029 [DAT](INFO): direction in FSK: [0.093563,-0.364404,0.926529] 2025-09-20T19:35:44.029Z,1758396944.029 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:44.033Z,1758396944.033 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.646074 2025-09-20T19:35:44.109Z,1758396944.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503852 s, deltaX: -0.100000 m, approachRate: -0.198471 m/s, rangeRepo size: 4 2025-09-20T19:35:44.115Z,1758396944.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783252 m, bearing: 97.173037 deg, lat: 36.779284 deg, lon: -121.859573 deg, deltaT: 37.063831 s, deltaX: -6.073471 m, approachRate: -0.163865 m/s, posRepo size: 4 2025-09-20T19:35:44.116Z,1758396944.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:44.123Z,1758396944.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.179179 m, bearing: 200.349618 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 132.057541 deg, new cmd heading: 131.119393 deg. 2025-09-20T19:35:44.124Z,1758396944.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288465 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:44.244Z,1758396944.244 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857669 2025-09-20T19:35:44.496Z,1758396944.496 [DAT](INFO): DAT read: Rx Time:19:35:46.7925 2025-09-20T19:35:44.497Z,1758396944.497 [DAT](INFO): Rx dataTimestamp_ set to:1758396944.496420 2025-09-20T19:35:44.498Z,1758396944.498 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:44.498Z,1758396944.498 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-09-20T19:35:44.499Z,1758396944.499 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.112834 2025-09-20T19:35:44.591Z,1758396944.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503693 s, deltaX: 0.100000 m, approachRate: 0.198534 m/s, rangeRepo size: 4 2025-09-20T19:35:44.592Z,1758396944.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:44.603Z,1758396944.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.197685 m, bearing: 200.919370 deg, approach rate: 0.040400 m/s, LOS rate: 1.224529 deg/s, cmd heading: 131.119387 deg, new cmd heading: 132.241123 deg. 2025-09-20T19:35:44.604Z,1758396944.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308043 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:44.748Z,1758396944.748 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361325 2025-09-20T19:35:44.866Z,1758396944.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:44.885Z,1758396944.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:44.896Z,1758396944.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.209812 m, bearing: 201.272432 deg, approach rate: 0.038101 m/s, LOS rate: 1.098199 deg/s, cmd heading: 132.241123 deg, new cmd heading: 132.940129 deg. 2025-09-20T19:35:44.897Z,1758396944.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320243 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:45.000Z,1758396945.000 [DAT](INFO): DAT read: Rx Time:19:35:47.2924 2025-09-20T19:35:45.001Z,1758396945.001 [DAT](INFO): Rx dataTimestamp_ set to:1758396945.000348 2025-09-20T19:35:45.002Z,1758396945.002 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:45.002Z,1758396945.002 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-09-20T19:35:45.004Z,1758396945.004 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.617697 2025-09-20T19:35:45.252Z,1758396945.252 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.865434 2025-09-20T19:35:45.274Z,1758396945.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503928 s, deltaX: -0.100000 m, approachRate: -0.198441 m/s, rangeRepo size: 4 2025-09-20T19:35:45.275Z,1758396945.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:45.278Z,1758396945.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.225847 m, bearing: 201.714434 deg, approach rate: 0.041229 m/s, LOS rate: 1.121599 deg/s, cmd heading: 132.940125 deg, new cmd heading: 133.812490 deg. 2025-09-20T19:35:45.279Z,1758396945.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335469 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:45.505Z,1758396945.505 [DAT](INFO): DAT read: Rx Time:19:35:47.7926 2025-09-20T19:35:45.505Z,1758396945.505 [DAT](INFO): Rx dataTimestamp_ set to:1758396945.504808 2025-09-20T19:35:45.506Z,1758396945.506 [DAT](INFO): DAT read: Bearing 27.4, 26.5 (Local) 2025-09-20T19:35:45.507Z,1758396945.507 [DAT](INFO): Local bearing/azimuth received: Bearing 27.4, 26.5 (Local) 2025-09-20T19:35:45.509Z,1758396945.509 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:35:45.513Z,1758396945.513 [DAT](INFO): DAT read: 19:35:47.7926 LVL= 14832, 20849, 14242, 24755, AGC= 52, IDX= 499, 0.07, 2.023, 0.613, 1.022, 2.871, PHS=-0.746,-2.213,-1.893, RAW= 101.9, 52.1, CAL= 100.4, 57.1, ROT= 49.6, -57.1 2025-09-20T19:35:45.514Z,1758396945.514 [DAT](INFO): got valid direction response: 19:35:47.7926 LVL= 14832, 20849, 14242, 24755, AGC= 52, IDX= 499, 0.07, 2.023, 0.613, 1.022, 2.871, PHS=-0.746,-2.213,-1.893, RAW= 101.9, 52.1, CAL= 100.4, 57.1, ROT= 49.6, -57.1 2025-09-20T19:35:45.515Z,1758396945.515 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-09-20T19:35:45.516Z,1758396945.516 [DAT](INFO): direction in FSK: [0.352042,0.413648,0.839620] 2025-09-20T19:35:45.516Z,1758396945.516 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:45.520Z,1758396945.520 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.133317 2025-09-20T19:35:45.698Z,1758396945.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504460 s, deltaX: 0.300000 m, approachRate: 0.594695 m/s, rangeRepo size: 4 2025-09-20T19:35:45.700Z,1758396945.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081932 m, bearing: 224.513102 deg, lat: 36.779284 deg, lon: -121.859573 deg, deltaT: 38.575912 s, deltaX: -5.774791 m, approachRate: -0.149699 m/s, posRepo size: 4 2025-09-20T19:35:45.701Z,1758396945.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:35:45.705Z,1758396945.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.246014 m, bearing: 201.713276 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 133.812490 deg, new cmd heading: 132.869693 deg. 2025-09-20T19:35:45.706Z,1758396945.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319014 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:35:45.756Z,1758396945.756 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.369543 2025-09-20T19:35:46.009Z,1758396946.009 [DAT](INFO): DAT read: Rx Time:19:35:48.2925 2025-09-20T19:35:46.009Z,1758396946.009 [DAT](INFO): Rx dataTimestamp_ set to:1758396946.008758 2025-09-20T19:35:46.010Z,1758396946.010 [DAT](INFO): DAT read: Bearing 27.8, 26.3 (Local) 2025-09-20T19:35:46.011Z,1758396946.011 [DAT](INFO): Local bearing/azimuth received: Bearing 27.8, 26.3 (Local) 2025-09-20T19:35:46.013Z,1758396946.013 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:46.018Z,1758396946.018 [DAT](INFO): DAT read: 19:35:48.2925 LVL= 14320, 20545, 15298, 24099, AGC= 52, IDX= 498, 0.16, 1.647, 0.328, 0.675, 2.506, PHS=-0.756,-2.133,-1.874, RAW= 100.2, 53.0, CAL= 98.7, 58.0, ROT= 51.3, -58.0 2025-09-20T19:35:46.019Z,1758396946.019 [DAT](INFO): got valid direction response: 19:35:48.2925 LVL= 14320, 20545, 15298, 24099, AGC= 52, IDX= 498, 0.16, 1.647, 0.328, 0.675, 2.506, PHS=-0.756,-2.133,-1.874, RAW= 100.2, 53.0, CAL= 98.7, 58.0, ROT= 51.3, -58.0 2025-09-20T19:35:46.019Z,1758396946.019 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-09-20T19:35:46.020Z,1758396946.020 [DAT](INFO): direction in FSK: [0.331328,0.413565,0.848048] 2025-09-20T19:35:46.021Z,1758396946.021 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:46.063Z,1758396946.063 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.667532 2025-09-20T19:35:46.150Z,1758396946.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503950 s, deltaX: -0.200000 m, approachRate: -0.396864 m/s, rangeRepo size: 4 2025-09-20T19:35:46.156Z,1758396946.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882814 m, bearing: 225.281807 deg, lat: 36.779284 deg, lon: -121.859573 deg, deltaT: 39.079862 s, deltaX: -5.973909 m, approachRate: -0.152864 m/s, posRepo size: 4 2025-09-20T19:35:46.157Z,1758396946.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:46.164Z,1758396946.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.266916 m, bearing: 201.700141 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 132.869692 deg, new cmd heading: 131.864179 deg. 2025-09-20T19:35:46.165Z,1758396946.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301464 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:46.261Z,1758396946.261 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.873857 2025-09-20T19:35:46.513Z,1758396946.513 [DAT](INFO): DAT read: Rx Time:19:35:48.7925 2025-09-20T19:35:46.513Z,1758396946.513 [DAT](INFO): Rx dataTimestamp_ set to:1758396946.512838 2025-09-20T19:35:46.514Z,1758396946.514 [DAT](INFO): DAT read: Bearing 27.3, 26.4 (Local) 2025-09-20T19:35:46.515Z,1758396946.515 [DAT](INFO): Local bearing/azimuth received: Bearing 27.3, 26.4 (Local) 2025-09-20T19:35:46.517Z,1758396946.517 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:46.525Z,1758396946.525 [DAT](INFO): DAT read: 19:35:48.7925 LVL= 13920, 21329, 14434, 24691, AGC= 52, IDX= 498, 0.31, 1.869, 0.587, 0.905, 2.725, PHS=-0.754,-2.093,-1.864, RAW= 99.2, 53.3, CAL= 97.8, 58.3, ROT= 52.2, -58.3 2025-09-20T19:35:46.526Z,1758396946.526 [DAT](INFO): got valid direction response: 19:35:48.7925 LVL= 13920, 21329, 14434, 24691, AGC= 52, IDX= 498, 0.31, 1.869, 0.587, 0.905, 2.725, PHS=-0.754,-2.093,-1.864, RAW= 99.2, 53.3, CAL= 97.8, 58.3, ROT= 52.2, -58.3 2025-09-20T19:35:46.526Z,1758396946.526 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-09-20T19:35:46.536Z,1758396946.536 [DAT](INFO): direction in FSK: [0.322065,0.415204,0.850811] 2025-09-20T19:35:46.536Z,1758396946.536 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:46.548Z,1758396946.548 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.161585 2025-09-20T19:35:46.630Z,1758396946.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:46.636Z,1758396946.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882820 m, bearing: 225.075180 deg, lat: 36.779278 deg, lon: -121.859597 deg, deltaT: 39.583942 s, deltaX: -5.973903 m, approachRate: -0.150917 m/s, posRepo size: 4 2025-09-20T19:35:46.637Z,1758396946.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:46.644Z,1758396946.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.294132 m, bearing: 201.427882 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 131.864179 deg, new cmd heading: 130.795124 deg. 2025-09-20T19:35:46.645Z,1758396946.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282806 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:46.764Z,1758396946.764 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.377522 2025-09-20T19:35:46.923Z,1758396946.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:46.926Z,1758396946.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:46.928Z,1758396946.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.312748 m, bearing: 201.237911 deg, approach rate: 0.062894 m/s, LOS rate: -0.632691 deg/s, cmd heading: 130.795131 deg, new cmd heading: 130.420583 deg. 2025-09-20T19:35:46.929Z,1758396946.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276268 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:47.017Z,1758396947.017 [DAT](INFO): DAT read: Rx Time:19:35:49.2924 2025-09-20T19:35:47.017Z,1758396947.017 [DAT](INFO): Rx dataTimestamp_ set to:1758396947.016825 2025-09-20T19:35:47.018Z,1758396947.018 [DAT](INFO): DAT read: Bearing 24.6, 26.6 (Local) 2025-09-20T19:35:47.019Z,1758396947.019 [DAT](INFO): Local bearing/azimuth received: Bearing 24.6, 26.6 (Local) 2025-09-20T19:35:47.021Z,1758396947.021 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:47.025Z,1758396947.025 [DAT](INFO): DAT read: 19:35:49.2924 LVL= 14176, 23073, 14162, 25059, AGC= 52, IDX= 498,-0.47,-1.267,-2.674,-2.287,-0.420, PHS=-0.745,-2.209,-1.910, RAW= 101.1, 52.1, CAL= 99.6, 57.1, ROT= 50.4, -57.1 2025-09-20T19:35:47.027Z,1758396947.027 [DAT](INFO): got valid direction response: 19:35:49.2924 LVL= 14176, 23073, 14162, 25059, AGC= 52, IDX= 498,-0.47,-1.267,-2.674,-2.287,-0.420, PHS=-0.745,-2.209,-1.910, RAW= 101.1, 52.1, CAL= 99.6, 57.1, ROT= 50.4, -57.1 2025-09-20T19:35:47.027Z,1758396947.027 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-09-20T19:35:47.028Z,1758396947.028 [DAT](INFO): direction in FSK: [0.346232,0.418523,0.839620] 2025-09-20T19:35:47.028Z,1758396947.028 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:47.032Z,1758396947.032 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.645245 2025-09-20T19:35:47.268Z,1758396947.268 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.881367 2025-09-20T19:35:47.305Z,1758396947.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503987 s, deltaX: -0.100000 m, approachRate: -0.198418 m/s, rangeRepo size: 4 2025-09-20T19:35:47.307Z,1758396947.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783261 m, bearing: 220.547494 deg, lat: 36.779278 deg, lon: -121.859597 deg, deltaT: 40.087929 s, deltaX: -6.073462 m, approachRate: -0.151504 m/s, posRepo size: 4 2025-09-20T19:35:47.308Z,1758396947.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:47.311Z,1758396947.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.334276 m, bearing: 201.013109 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 130.420577 deg, new cmd heading: 129.577348 deg. 2025-09-20T19:35:47.312Z,1758396947.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261551 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:47.522Z,1758396947.522 [DAT](INFO): DAT read: Rx Time:19:35:49.7925 2025-09-20T19:35:47.522Z,1758396947.522 [DAT](INFO): Rx dataTimestamp_ set to:1758396947.522009 2025-09-20T19:35:47.524Z,1758396947.524 [DAT](INFO): DAT read: Bearing 23.2, 26.7 (Local) 2025-09-20T19:35:47.524Z,1758396947.524 [DAT](INFO): Local bearing/azimuth received: Bearing 23.2, 26.7 (Local) 2025-09-20T19:35:47.526Z,1758396947.526 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:47.545Z,1758396947.545 [DAT](INFO): DAT read: 19:35:49.7925 LVL= 14720, 22337, 13490, 28131, AGC= 52, IDX= 499,-0.22,-1.243,-2.696,-2.286,-0.383, PHS=-0.759,-2.268,-1.947, RAW= 101.6, 51.9, CAL= 100.1, 57.0, ROT= 49.9, -57.0 2025-09-20T19:35:47.546Z,1758396947.546 [DAT](INFO): got valid direction response: 19:35:49.7925 LVL= 14720, 22337, 13490, 28131, AGC= 52, IDX= 499,-0.22,-1.243,-2.696,-2.286,-0.383, PHS=-0.759,-2.268,-1.947, RAW= 101.6, 51.9, CAL= 100.1, 57.0, ROT= 49.9, -57.0 2025-09-20T19:35:47.560Z,1758396947.560 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-09-20T19:35:47.562Z,1758396947.562 [DAT](INFO): direction in FSK: [0.350815,0.416606,0.838671] 2025-09-20T19:35:47.562Z,1758396947.562 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:47.573Z,1758396947.573 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.186224 2025-09-20T19:35:47.759Z,1758396947.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.505184 s, deltaX: 0.100000 m, approachRate: 0.197948 m/s, rangeRepo size: 4 2025-09-20T19:35:47.761Z,1758396947.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882836 m, bearing: 218.814298 deg, lat: 36.779278 deg, lon: -121.859597 deg, deltaT: 40.593113 s, deltaX: -5.973886 m, approachRate: -0.147165 m/s, posRepo size: 4 2025-09-20T19:35:47.762Z,1758396947.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:47.769Z,1758396947.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.366292 m, bearing: 201.005359 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 129.577349 deg, new cmd heading: 128.575261 deg. 2025-09-20T19:35:47.770Z,1758396947.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244062 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:47.772Z,1758396947.772 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.385435 2025-09-20T19:35:48.025Z,1758396948.025 [DAT](INFO): DAT read: Rx Time:19:35:50.2924 2025-09-20T19:35:48.025Z,1758396948.025 [DAT](INFO): Rx dataTimestamp_ set to:1758396948.025003 2025-09-20T19:35:48.027Z,1758396948.027 [DAT](INFO): DAT read: Bearing 24.0, 26.9 (Local) 2025-09-20T19:35:48.027Z,1758396948.027 [DAT](INFO): Local bearing/azimuth received: Bearing 24.0, 26.9 (Local) 2025-09-20T19:35:48.029Z,1758396948.029 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:48.034Z,1758396948.034 [DAT](INFO): DAT read: 19:35:50.2924 LVL= 15472, 22945, 13330, 24131, AGC= 52, IDX= 498,-0.11,-2.295, 2.634, 2.958,-1.418, PHS=-0.775,-2.186,-1.951, RAW= 99.0, 53.0, CAL= 97.6, 58.0, ROT= 52.4, -58.0 2025-09-20T19:35:48.035Z,1758396948.035 [DAT](INFO): got valid direction response: 19:35:50.2924 LVL= 15472, 22945, 13330, 24131, AGC= 52, IDX= 498,-0.11,-2.295, 2.634, 2.958,-1.418, PHS=-0.775,-2.186,-1.951, RAW= 99.0, 53.0, CAL= 97.6, 58.0, ROT= 52.4, -58.0 2025-09-20T19:35:48.067Z,1758396948.067 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-09-20T19:35:48.068Z,1758396948.068 [DAT](INFO): direction in FSK: [0.323328,0.419850,0.848048] 2025-09-20T19:35:48.068Z,1758396948.068 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:48.080Z,1758396948.080 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.693504 2025-09-20T19:35:48.131Z,1758396948.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.502994 s, deltaX: -0.100000 m, approachRate: -0.198810 m/s, rangeRepo size: 4 2025-09-20T19:35:48.137Z,1758396948.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783276 m, bearing: 220.305282 deg, lat: 36.779278 deg, lon: -121.859596 deg, deltaT: 41.096107 s, deltaX: -6.073446 m, approachRate: -0.147786 m/s, posRepo size: 4 2025-09-20T19:35:48.138Z,1758396948.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:48.145Z,1758396948.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.393097 m, bearing: 200.984512 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 128.575265 deg, new cmd heading: 127.739846 deg. 2025-09-20T19:35:48.145Z,1758396948.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229481 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:48.276Z,1758396948.276 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.889484 2025-09-20T19:35:48.529Z,1758396948.529 [DAT](INFO): DAT read: Rx Time:19:35:50.7925 2025-09-20T19:35:48.529Z,1758396948.529 [DAT](INFO): Rx dataTimestamp_ set to:1758396948.528764 2025-09-20T19:35:48.530Z,1758396948.530 [DAT](INFO): DAT read: Bearing 25.9, 26.6 (Local) 2025-09-20T19:35:48.531Z,1758396948.531 [DAT](INFO): Local bearing/azimuth received: Bearing 25.9, 26.6 (Local) 2025-09-20T19:35:48.533Z,1758396948.533 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:48.537Z,1758396948.537 [DAT](INFO): DAT read: 19:35:50.7925 LVL= 15856, 23201, 14002, 23699, AGC= 52, IDX= 499,-0.02,-0.384,-1.575,-1.363, 0.530, PHS=-0.811,-2.059,-1.937, RAW= 95.1, 55.0, CAL= 94.0, 59.8, ROT= 56.0, -59.8 2025-09-20T19:35:48.538Z,1758396948.538 [DAT](INFO): got valid direction response: 19:35:50.7925 LVL= 15856, 23201, 14002, 23699, AGC= 52, IDX= 499,-0.02,-0.384,-1.575,-1.363, 0.530, PHS=-0.811,-2.059,-1.937, RAW= 95.1, 55.0, CAL= 94.0, 59.8, ROT= 56.0, -59.8 2025-09-20T19:35:48.539Z,1758396948.539 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-09-20T19:35:48.540Z,1758396948.540 [DAT](INFO): direction in FSK: [0.281285,0.417022,0.864275] 2025-09-20T19:35:48.540Z,1758396948.540 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:48.548Z,1758396948.548 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.161608 2025-09-20T19:35:48.648Z,1758396948.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503761 s, deltaX: 0.100000 m, approachRate: 0.198507 m/s, rangeRepo size: 4 2025-09-20T19:35:48.650Z,1758396948.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882839 m, bearing: 222.824380 deg, lat: 36.779278 deg, lon: -121.859596 deg, deltaT: 41.599868 s, deltaX: -5.973884 m, approachRate: -0.143603 m/s, posRepo size: 4 2025-09-20T19:35:48.655Z,1758396948.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:48.658Z,1758396948.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.430107 m, bearing: 200.990510 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 127.739851 deg, new cmd heading: 126.597997 deg. 2025-09-20T19:35:48.659Z,1758396948.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209552 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:48.781Z,1758396948.781 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.394041 2025-09-20T19:35:48.925Z,1758396948.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:48.929Z,1758396948.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.452255 m, bearing: 200.983128 deg, approach rate: 0.078571 m/s, LOS rate: -0.025787 deg/s, cmd heading: 126.597993 deg, new cmd heading: 126.583456 deg. 2025-09-20T19:35:48.930Z,1758396948.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209298 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:49.035Z,1758396949.035 [DAT](INFO): DAT read: Rx Time:19:35:51.2925 2025-09-20T19:35:49.037Z,1758396949.037 [DAT](INFO): Rx dataTimestamp_ set to:1758396949.036810 2025-09-20T19:35:49.039Z,1758396949.039 [DAT](INFO): DAT read: Bearing 29.1, 26.8 (Local) 2025-09-20T19:35:49.039Z,1758396949.039 [DAT](INFO): Local bearing/azimuth received: Bearing 29.1, 26.8 (Local) 2025-09-20T19:35:49.042Z,1758396949.042 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:49.049Z,1758396949.049 [DAT](INFO): DAT read: 19:35:51.2925 LVL= 16800, 23265, 14690, 22179, AGC= 52, IDX= 498, 0.08,-0.715,-1.712,-1.658, 0.234, PHS=-0.847,-1.901,-1.936, RAW= 88.4, 57.1, CAL= 87.3, 61.8, ROT= 62.7, -61.8 2025-09-20T19:35:49.050Z,1758396949.050 [DAT](INFO): got valid direction response: 19:35:51.2925 LVL= 16800, 23265, 14690, 22179, AGC= 52, IDX= 498, 0.08,-0.715,-1.712,-1.658, 0.234, PHS=-0.847,-1.901,-1.936, RAW= 88.4, 57.1, CAL= 87.3, 61.8, ROT= 62.7, -61.8 2025-09-20T19:35:49.050Z,1758396949.050 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-09-20T19:35:49.063Z,1758396949.063 [DAT](INFO): direction in FSK: [0.216735,0.419917,0.881303] 2025-09-20T19:35:49.063Z,1758396949.063 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:49.073Z,1758396949.073 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.685848 2025-09-20T19:35:49.284Z,1758396949.284 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.897177 2025-09-20T19:35:49.317Z,1758396949.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.508046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:49.319Z,1758396949.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882839 m, bearing: 226.892417 deg, lat: 36.779278 deg, lon: -121.859596 deg, deltaT: 42.107914 s, deltaX: -5.973884 m, approachRate: -0.141871 m/s, posRepo size: 4 2025-09-20T19:35:49.320Z,1758396949.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:49.323Z,1758396949.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.480223 m, bearing: 200.960373 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 126.583459 deg, new cmd heading: 125.711788 deg. 2025-09-20T19:35:49.324Z,1758396949.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194085 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:49.537Z,1758396949.537 [DAT](INFO): DAT read: Rx Time:19:35:51.7926 2025-09-20T19:35:49.537Z,1758396949.537 [DAT](INFO): Rx dataTimestamp_ set to:1758396949.536888 2025-09-20T19:35:49.538Z,1758396949.538 [DAT](INFO): DAT read: Bearing 27.5, 27.1 (Local) 2025-09-20T19:35:49.539Z,1758396949.539 [DAT](INFO): Local bearing/azimuth received: Bearing 27.5, 27.1 (Local) 2025-09-20T19:35:49.541Z,1758396949.541 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:35:49.546Z,1758396949.546 [DAT](INFO): DAT read: 19:35:51.7926 LVL= 17136, 23025, 14578, 21939, AGC= 52, IDX= 499, 0.20, 0.611,-0.429,-0.361, 1.561, PHS=-0.847,-1.945,-1.965, RAW= 89.1, 56.6, CAL= 88.1, 61.4, ROT= 61.9, -61.4 2025-09-20T19:35:49.547Z,1758396949.547 [DAT](INFO): got valid direction response: 19:35:51.7926 LVL= 17136, 23025, 14578, 21939, AGC= 52, IDX= 499, 0.20, 0.611,-0.429,-0.361, 1.561, PHS=-0.847,-1.945,-1.965, RAW= 89.1, 56.6, CAL= 88.1, 61.4, ROT= 61.9, -61.4 2025-09-20T19:35:49.548Z,1758396949.548 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-09-20T19:35:49.549Z,1758396949.549 [DAT](INFO): direction in FSK: [0.225470,0.422267,0.877983] 2025-09-20T19:35:49.549Z,1758396949.549 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:49.552Z,1758396949.552 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.165751 2025-09-20T19:35:49.764Z,1758396949.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.500078 s, deltaX: 0.200000 m, approachRate: 0.399937 m/s, rangeRepo size: 4 2025-09-20T19:35:49.766Z,1758396949.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081961 m, bearing: 224.716340 deg, lat: 36.779280 deg, lon: -121.859596 deg, deltaT: 42.607992 s, deltaX: -5.774762 m, approachRate: -0.135532 m/s, posRepo size: 4 2025-09-20T19:35:49.767Z,1758396949.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:35:49.778Z,1758396949.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.500562 m, bearing: 200.629554 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 125.711790 deg, new cmd heading: 124.728931 deg. 2025-09-20T19:35:49.780Z,1758396949.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.176930 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:35:49.789Z,1758396949.789 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.402105 2025-09-20T19:35:50.041Z,1758396950.041 [DAT](INFO): DAT read: Rx Time:19:35:52.2925 2025-09-20T19:35:50.041Z,1758396950.041 [DAT](INFO): Rx dataTimestamp_ set to:1758396950.040848 2025-09-20T19:35:50.042Z,1758396950.042 [DAT](INFO): DAT read: Bearing 26.9, 27.1 (Local) 2025-09-20T19:35:50.043Z,1758396950.043 [DAT](INFO): Local bearing/azimuth received: Bearing 26.9, 27.1 (Local) 2025-09-20T19:35:50.045Z,1758396950.045 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:50.050Z,1758396950.050 [DAT](INFO): DAT read: 19:35:52.2925 LVL= 19440, 22081, 16690, 18371, AGC= 50, IDX= 498, 0.42,-1.146,-2.173,-2.116,-0.176, PHS=-0.868,-1.952,-1.984, RAW= 88.6, 57.1, CAL= 87.5, 61.8, ROT= 62.5, -61.8 2025-09-20T19:35:50.061Z,1758396950.061 [DAT](INFO): got valid direction response: 19:35:52.2925 LVL= 19440, 22081, 16690, 18371, AGC= 50, IDX= 498, 0.42,-1.146,-2.173,-2.116,-0.176, PHS=-0.868,-1.952,-1.984, RAW= 88.6, 57.1, CAL= 87.5, 61.8, ROT= 62.5, -61.8 2025-09-20T19:35:50.061Z,1758396950.061 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-09-20T19:35:50.062Z,1758396950.062 [DAT](INFO): direction in FSK: [0.218200,0.419158,0.881303] 2025-09-20T19:35:50.062Z,1758396950.062 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:50.066Z,1758396950.066 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.679176 2025-09-20T19:35:50.162Z,1758396950.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503960 s, deltaX: -0.200000 m, approachRate: -0.396857 m/s, rangeRepo size: 4 2025-09-20T19:35:50.169Z,1758396950.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882841 m, bearing: 223.971249 deg, lat: 36.779281 deg, lon: -121.859596 deg, deltaT: 43.111952 s, deltaX: -5.973882 m, approachRate: -0.138567 m/s, posRepo size: 4 2025-09-20T19:35:50.170Z,1758396950.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:50.176Z,1758396950.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.519202 m, bearing: 200.325959 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 124.728926 deg, new cmd heading: 123.830905 deg. 2025-09-20T19:35:50.177Z,1758396950.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161257 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:50.292Z,1758396950.292 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.905764 2025-09-20T19:35:50.545Z,1758396950.545 [DAT](INFO): DAT read: Rx Time:19:35:52.7925 2025-09-20T19:35:50.545Z,1758396950.545 [DAT](INFO): Rx dataTimestamp_ set to:1758396950.544886 2025-09-20T19:35:50.546Z,1758396950.546 [DAT](INFO): DAT read: Bearing 27.0, 26.5 (Local) 2025-09-20T19:35:50.547Z,1758396950.547 [DAT](INFO): Local bearing/azimuth received: Bearing 27.0, 26.5 (Local) 2025-09-20T19:35:50.549Z,1758396950.549 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:50.554Z,1758396950.554 [DAT](INFO): DAT read: 19:35:52.7925 LVL= 19648, 21873, 16786, 20403, AGC= 50, IDX= 499,-0.30, 2.502, 1.516, 1.552,-2.761, PHS=-0.918,-1.961,-2.013, RAW= 87.6, 58.3, CAL= 86.5, 62.9, ROT= 63.5, -62.9 2025-09-20T19:35:50.556Z,1758396950.556 [DAT](INFO): got valid direction response: 19:35:52.7925 LVL= 19648, 21873, 16786, 20403, AGC= 50, IDX= 499,-0.30, 2.502, 1.516, 1.552,-2.761, PHS=-0.918,-1.961,-2.013, RAW= 87.6, 58.3, CAL= 86.5, 62.9, ROT= 63.5, -62.9 2025-09-20T19:35:50.556Z,1758396950.556 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-09-20T19:35:50.557Z,1758396950.557 [DAT](INFO): direction in FSK: [0.203263,0.407683,0.890213] 2025-09-20T19:35:50.557Z,1758396950.557 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:50.561Z,1758396950.561 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.174143 2025-09-20T19:35:50.672Z,1758396950.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:50.674Z,1758396950.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882836 m, bearing: 223.743960 deg, lat: 36.779282 deg, lon: -121.859596 deg, deltaT: 43.615990 s, deltaX: -5.973886 m, approachRate: -0.136966 m/s, posRepo size: 4 2025-09-20T19:35:50.682Z,1758396950.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:50.689Z,1758396950.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.535533 m, bearing: 200.376319 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 123.830906 deg, new cmd heading: 122.695752 deg. 2025-09-20T19:35:50.690Z,1758396950.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.141445 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:50.797Z,1758396950.797 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.409704 2025-09-20T19:35:50.952Z,1758396950.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:50.961Z,1758396950.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:50.967Z,1758396950.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.545300 m, bearing: 200.401908 deg, approach rate: 0.034460 m/s, LOS rate: 0.089708 deg/s, cmd heading: 122.695756 deg, new cmd heading: 122.746611 deg. 2025-09-20T19:35:50.968Z,1758396950.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142333 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:51.049Z,1758396951.049 [DAT](INFO): DAT read: Rx Time:19:35:53.2924 2025-09-20T19:35:51.050Z,1758396951.050 [DAT](INFO): Rx dataTimestamp_ set to:1758396951.049250 2025-09-20T19:35:51.052Z,1758396951.052 [DAT](INFO): DAT read: Bearing 26.3, 25.7 (Local) 2025-09-20T19:35:51.052Z,1758396951.052 [DAT](INFO): Local bearing/azimuth received: Bearing 26.3, 25.7 (Local) 2025-09-20T19:35:51.054Z,1758396951.054 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:51.059Z,1758396951.059 [DAT](INFO): DAT read: 19:35:53.2924 LVL= 20368, 21777, 16626, 21027, AGC= 50, IDX= 498,-0.15, 1.496, 0.542, 0.590, 2.531, PHS=-0.933,-1.944,-1.985, RAW= 88.0, 59.0, CAL= 87.0, 63.5, ROT= 63.0, -63.5 2025-09-20T19:35:51.060Z,1758396951.060 [DAT](INFO): got valid direction response: 19:35:53.2924 LVL= 20368, 21777, 16626, 21027, AGC= 50, IDX= 498,-0.15, 1.496, 0.542, 0.590, 2.531, PHS=-0.933,-1.944,-1.985, RAW= 88.0, 59.0, CAL= 87.0, 63.5, ROT= 63.0, -63.5 2025-09-20T19:35:51.060Z,1758396951.060 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-09-20T19:35:51.061Z,1758396951.061 [DAT](INFO): direction in FSK: [0.202570,0.397565,0.894934] 2025-09-20T19:35:51.061Z,1758396951.061 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:51.066Z,1758396951.066 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.679625 2025-09-20T19:35:51.300Z,1758396951.300 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.913286 2025-09-20T19:35:51.332Z,1758396951.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504364 s, deltaX: -0.100000 m, approachRate: -0.198270 m/s, rangeRepo size: 4 2025-09-20T19:35:51.334Z,1758396951.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783276 m, bearing: 221.464508 deg, lat: 36.779282 deg, lon: -121.859595 deg, deltaT: 44.120354 s, deltaX: -6.073447 m, approachRate: -0.137656 m/s, posRepo size: 4 2025-09-20T19:35:51.364Z,1758396951.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:51.382Z,1758396951.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.558200 m, bearing: 200.430009 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 122.746614 deg, new cmd heading: 121.910116 deg. 2025-09-20T19:35:51.389Z,1758396951.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127733 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:51.561Z,1758396951.561 [DAT](INFO): DAT read: Rx Time:19:35:53.7925 2025-09-20T19:35:51.561Z,1758396951.561 [DAT](INFO): Rx dataTimestamp_ set to:1758396951.561144 2025-09-20T19:35:51.563Z,1758396951.563 [DAT](INFO): DAT read: Bearing 32.7, 26.2 (Local) 2025-09-20T19:35:51.563Z,1758396951.563 [DAT](INFO): Local bearing/azimuth received: Bearing 32.7, 26.2 (Local) 2025-09-20T19:35:51.565Z,1758396951.565 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:51.581Z,1758396951.581 [DAT](INFO): DAT read: 19:35:53.7925 LVL= 20256, 21489, 17282, 20595, AGC= 49, IDX= 499,-0.05, 2.747, 2.088, 1.905,-2.461, PHS=-0.974,-1.690,-1.962, RAW= 74.5, 61.6, CAL= 72.4, 65.6, ROT= 77.6, -65.6 2025-09-20T19:35:51.587Z,1758396951.587 [DAT](INFO): got valid direction response: 19:35:53.7925 LVL= 20256, 21489, 17282, 20595, AGC= 49, IDX= 499,-0.05, 2.747, 2.088, 1.905,-2.461, PHS=-0.974,-1.690,-1.962, RAW= 74.5, 61.6, CAL= 72.4, 65.6, ROT= 77.6, -65.6 2025-09-20T19:35:51.587Z,1758396951.587 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-09-20T19:35:51.588Z,1758396951.588 [DAT](INFO): direction in FSK: [0.088708,0.403468,0.910684] 2025-09-20T19:35:51.589Z,1758396951.589 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:51.610Z,1758396951.610 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.223253 2025-09-20T19:35:51.802Z,1758396951.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.511894 s, deltaX: 0.100000 m, approachRate: 0.195353 m/s, rangeRepo size: 4 2025-09-20T19:35:51.805Z,1758396951.805 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.418228 2025-09-20T19:35:51.809Z,1758396951.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882829 m, bearing: 235.385918 deg, lat: 36.779282 deg, lon: -121.859595 deg, deltaT: 44.632248 s, deltaX: -5.973893 m, approachRate: -0.133847 m/s, posRepo size: 4 2025-09-20T19:35:51.815Z,1758396951.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:51.818Z,1758396951.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.567950 m, bearing: 200.569969 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 121.910120 deg, new cmd heading: 120.864707 deg. 2025-09-20T19:35:51.818Z,1758396951.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109487 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:52.057Z,1758396952.057 [DAT](INFO): DAT read: Rx Time:19:35:54.2924 2025-09-20T19:35:52.057Z,1758396952.057 [DAT](INFO): Rx dataTimestamp_ set to:1758396952.057167 2025-09-20T19:35:52.059Z,1758396952.059 [DAT](INFO): DAT read: Bearing 35.4, 26.3 (Local) 2025-09-20T19:35:52.059Z,1758396952.059 [DAT](INFO): Local bearing/azimuth received: Bearing 35.4, 26.3 (Local) 2025-09-20T19:35:52.061Z,1758396952.061 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:52.066Z,1758396952.066 [DAT](INFO): DAT read: 19:35:54.2924 LVL= 20016, 19201, 17186, 20019, AGC= 49, IDX= 498, 0.06,-3.098, 2.661, 2.377,-1.987, PHS=-1.009,-1.590,-1.964, RAW= 67.2, 62.7, CAL= 64.9, 66.2, ROT= 85.1, -66.2 2025-09-20T19:35:52.069Z,1758396952.069 [DAT](INFO): got valid direction response: 19:35:54.2924 LVL= 20016, 19201, 17186, 20019, AGC= 49, IDX= 498, 0.06,-3.098, 2.661, 2.377,-1.987, PHS=-1.009,-1.590,-1.964, RAW= 67.2, 62.7, CAL= 64.9, 66.2, ROT= 85.1, -66.2 2025-09-20T19:35:52.069Z,1758396952.069 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-09-20T19:35:52.070Z,1758396952.070 [DAT](INFO): direction in FSK: [0.034470,0.402071,0.914960] 2025-09-20T19:35:52.071Z,1758396952.071 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:52.100Z,1758396952.100 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.688227 2025-09-20T19:35:52.218Z,1758396952.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.496023 s, deltaX: -0.100000 m, approachRate: -0.201604 m/s, rangeRepo size: 4 2025-09-20T19:35:52.224Z,1758396952.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783269 m, bearing: 242.481806 deg, lat: 36.779282 deg, lon: -121.859595 deg, deltaT: 45.128271 s, deltaX: -6.073453 m, approachRate: -0.134582 m/s, posRepo size: 4 2025-09-20T19:35:52.225Z,1758396952.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:52.232Z,1758396952.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.577560 m, bearing: 200.701940 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 120.864705 deg, new cmd heading: 119.938306 deg. 2025-09-20T19:35:52.234Z,1758396952.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093318 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:52.308Z,1758396952.308 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.921440 2025-09-20T19:35:52.563Z,1758396952.563 [DAT](INFO): DAT read: Rx Time:19:35:54.7926 2025-09-20T19:35:52.563Z,1758396952.563 [DAT](INFO): Rx dataTimestamp_ set to:1758396952.563055 2025-09-20T19:35:52.565Z,1758396952.565 [DAT](INFO): DAT read: Bearing 32.6, 25.6 (Local) 2025-09-20T19:35:52.565Z,1758396952.565 [DAT](INFO): Local bearing/azimuth received: Bearing 32.6, 25.6 (Local) 2025-09-20T19:35:52.567Z,1758396952.567 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:35:52.572Z,1758396952.572 [DAT](INFO): DAT read: 19:35:54.7926 LVL= 20528, 22001, 17330, 23507, AGC= 48, IDX= 499, 0.20,-2.402,-2.989, 3.087,-1.298, PHS=-1.002,-1.646,-1.942, RAW= 72.1, 62.8, CAL= 69.8, 66.6, ROT= 80.2, -66.6 2025-09-20T19:35:52.573Z,1758396952.573 [DAT](INFO): got valid direction response: 19:35:54.7926 LVL= 20528, 22001, 17330, 23507, AGC= 48, IDX= 499, 0.20,-2.402,-2.989, 3.087,-1.298, PHS=-1.002,-1.646,-1.942, RAW= 72.1, 62.8, CAL= 69.8, 66.6, ROT= 80.2, -66.6 2025-09-20T19:35:52.573Z,1758396952.573 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-09-20T19:35:52.574Z,1758396952.574 [DAT](INFO): direction in FSK: [0.067598,0.391353,0.917755] 2025-09-20T19:35:52.574Z,1758396952.574 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:52.578Z,1758396952.578 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.191458 2025-09-20T19:35:52.728Z,1758396952.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505888 s, deltaX: 0.300000 m, approachRate: 0.593017 m/s, rangeRepo size: 4 2025-09-20T19:35:52.730Z,1758396952.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081941 m, bearing: 236.047630 deg, lat: 36.779286 deg, lon: -121.859595 deg, deltaT: 45.634159 s, deltaX: -5.774782 m, approachRate: -0.126545 m/s, posRepo size: 4 2025-09-20T19:35:52.732Z,1758396952.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:35:52.735Z,1758396952.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.579389 m, bearing: 200.885087 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 119.938299 deg, new cmd heading: 118.820774 deg. 2025-09-20T19:35:52.736Z,1758396952.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073814 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:35:52.812Z,1758396952.812 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.425573 2025-09-20T19:35:52.997Z,1758396952.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:52.999Z,1758396952.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:53.002Z,1758396953.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.580497 m, bearing: 200.991788 deg, approach rate: 0.003960 m/s, LOS rate: 0.381113 deg/s, cmd heading: 118.820771 deg, new cmd heading: 119.034021 deg. 2025-09-20T19:35:53.003Z,1758396953.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077536 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:35:53.065Z,1758396953.065 [DAT](INFO): DAT read: Rx Time:19:35:55.2924 2025-09-20T19:35:53.065Z,1758396953.065 [DAT](INFO): Rx dataTimestamp_ set to:1758396953.065122 2025-09-20T19:35:53.067Z,1758396953.067 [DAT](INFO): DAT read: Bearing 34.1, 26.1 (Local) 2025-09-20T19:35:53.067Z,1758396953.067 [DAT](INFO): Local bearing/azimuth received: Bearing 34.1, 26.1 (Local) 2025-09-20T19:35:53.069Z,1758396953.069 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:53.076Z,1758396953.076 [DAT](INFO): DAT read: 19:35:55.2924 LVL= 21024, 19889, 16946, 19539, AGC= 49, IDX= 498, 0.44, 2.149, 1.632, 1.345,-2.996, PHS=-1.037,-1.611,-1.987, RAW= 66.9, 63.2, CAL= 64.6, 66.6, ROT= 85.4, -66.6 2025-09-20T19:35:53.077Z,1758396953.077 [DAT](INFO): got valid direction response: 19:35:55.2924 LVL= 21024, 19889, 16946, 19539, AGC= 49, IDX= 498, 0.44, 2.149, 1.632, 1.345,-2.996, PHS=-1.037,-1.611,-1.987, RAW= 66.9, 63.2, CAL= 64.6, 66.6, ROT= 85.4, -66.6 2025-09-20T19:35:53.077Z,1758396953.077 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-09-20T19:35:53.078Z,1758396953.078 [DAT](INFO): direction in FSK: [0.031851,0.395869,0.917755] 2025-09-20T19:35:53.078Z,1758396953.078 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:53.100Z,1758396953.100 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.713669 2025-09-20T19:35:53.316Z,1758396953.316 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.929302 2025-09-20T19:35:53.496Z,1758396953.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.502067 s, deltaX: -0.300000 m, approachRate: -0.597530 m/s, rangeRepo size: 4 2025-09-20T19:35:53.498Z,1758396953.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783262 m, bearing: 240.233135 deg, lat: 36.779286 deg, lon: -121.859595 deg, deltaT: 46.136226 s, deltaX: -6.073461 m, approachRate: -0.131642 m/s, posRepo size: 4 2025-09-20T19:35:53.508Z,1758396953.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:53.520Z,1758396953.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.582146 m, bearing: 201.144974 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 119.034023 deg, new cmd heading: 117.928196 deg. 2025-09-20T19:35:53.521Z,1758396953.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058235 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:53.572Z,1758396953.572 [DAT](INFO): DAT read: Rx Time:19:35:55.7925 2025-09-20T19:35:53.574Z,1758396953.574 [DAT](INFO): Rx dataTimestamp_ set to:1758396953.573023 2025-09-20T19:35:53.578Z,1758396953.578 [DAT](INFO): DAT read: Bearing 27.6, 24.3 (Local) 2025-09-20T19:35:53.579Z,1758396953.579 [DAT](INFO): Local bearing/azimuth received: Bearing 27.6, 24.3 (Local) 2025-09-20T19:35:53.586Z,1758396953.586 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:53.604Z,1758396953.604 [DAT](INFO): DAT read: 19:35:55.7925 LVL= 20720, 20241, 16818, 21907, AGC= 50, IDX= 500,-0.29, 0.813, 0.105, 0.025, 1.946, PHS=-1.031,-1.796,-1.965, RAW= 80.2, 63.0, CAL= 78.7, 67.0, ROT= 71.3, -67.0 2025-09-20T19:35:53.605Z,1758396953.605 [DAT](INFO): got valid direction response: 19:35:55.7925 LVL= 20720, 20241, 16818, 21907, AGC= 50, IDX= 500,-0.29, 0.813, 0.105, 0.025, 1.946, PHS=-1.031,-1.796,-1.965, RAW= 80.2, 63.0, CAL= 78.7, 67.0, ROT= 71.3, -67.0 2025-09-20T19:35:53.606Z,1758396953.606 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-09-20T19:35:53.607Z,1758396953.607 [DAT](INFO): direction in FSK: [0.125273,0.370105,0.920505] 2025-09-20T19:35:53.623Z,1758396953.623 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:53.636Z,1758396953.636 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.240112 2025-09-20T19:35:53.820Z,1758396953.820 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.433426 2025-09-20T19:35:53.959Z,1758396953.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.507901 s, deltaX: 0.100000 m, approachRate: 0.196889 m/s, rangeRepo size: 4 2025-09-20T19:35:53.961Z,1758396953.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882817 m, bearing: 223.747058 deg, lat: 36.779286 deg, lon: -121.859595 deg, deltaT: 46.644127 s, deltaX: -5.973906 m, approachRate: -0.128074 m/s, posRepo size: 4 2025-09-20T19:35:53.962Z,1758396953.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:53.969Z,1758396953.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.588273 m, bearing: 201.416067 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 117.928202 deg, new cmd heading: 116.907939 deg. 2025-09-20T19:35:53.970Z,1758396953.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.040428 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:54.073Z,1758396954.073 [DAT](INFO): DAT read: Rx Time:19:35:56.2924 2025-09-20T19:35:54.073Z,1758396954.073 [DAT](INFO): Rx dataTimestamp_ set to:1758396954.072856 2025-09-20T19:35:54.074Z,1758396954.074 [DAT](INFO): DAT read: Bearing 27.5, 24.4 (Local) 2025-09-20T19:35:54.075Z,1758396954.075 [DAT](INFO): Local bearing/azimuth received: Bearing 27.5, 24.4 (Local) 2025-09-20T19:35:54.077Z,1758396954.077 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:54.082Z,1758396954.082 [DAT](INFO): DAT read: 19:35:56.2924 LVL= 20672, 19121, 17122, 20211, AGC= 49, IDX= 499,-0.16,-0.157,-0.836,-0.935, 0.979, PHS=-1.034,-1.770,-1.958, RAW= 78.9, 63.3, CAL= 77.3, 67.2, ROT= 72.7, -67.2 2025-09-20T19:35:54.083Z,1758396954.083 [DAT](INFO): got valid direction response: 19:35:56.2924 LVL= 20672, 19121, 17122, 20211, AGC= 49, IDX= 499,-0.16,-0.157,-0.836,-0.935, 0.979, PHS=-1.034,-1.770,-1.958, RAW= 78.9, 63.3, CAL= 77.3, 67.2, ROT= 72.7, -67.2 2025-09-20T19:35:54.084Z,1758396954.084 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-09-20T19:35:54.085Z,1758396954.085 [DAT](INFO): direction in FSK: [0.115237,0.369985,0.921863] 2025-09-20T19:35:54.085Z,1758396954.085 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:54.093Z,1758396954.093 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.706276 2025-09-20T19:35:54.253Z,1758396954.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.499833 s, deltaX: -0.100000 m, approachRate: -0.200067 m/s, rangeRepo size: 4 2025-09-20T19:35:54.265Z,1758396954.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783258 m, bearing: 224.423040 deg, lat: 36.779286 deg, lon: -121.859594 deg, deltaT: 47.143960 s, deltaX: -6.073465 m, approachRate: -0.128828 m/s, posRepo size: 4 2025-09-20T19:35:54.266Z,1758396954.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:54.274Z,1758396954.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.592181 m, bearing: 201.583885 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 116.907936 deg, new cmd heading: 116.244531 deg. 2025-09-20T19:35:54.275Z,1758396954.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.028850 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:54.325Z,1758396954.325 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.938032 2025-09-20T19:35:54.581Z,1758396954.581 [DAT](INFO): DAT read: Rx Time:19:35:56.7924 2025-09-20T19:35:54.582Z,1758396954.582 [DAT](INFO): Rx dataTimestamp_ set to:1758396954.581109 2025-09-20T19:35:54.586Z,1758396954.586 [DAT](INFO): DAT read: Bearing 26.0, 24.2 (Local) 2025-09-20T19:35:54.587Z,1758396954.587 [DAT](INFO): Local bearing/azimuth received: Bearing 26.0, 24.2 (Local) 2025-09-20T19:35:54.608Z,1758396954.608 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:54.616Z,1758396954.616 [DAT](INFO): DAT read: 19:35:56.7924 LVL= 24224, 19505, 18482, 20563, AGC= 49, IDX= 499,-0.05, 0.144,-0.564,-0.632, 1.275, PHS=-1.029,-1.794,-1.951, RAW= 80.9, 63.1, CAL= 79.4, 67.2, ROT= 70.6, -67.2 2025-09-20T19:35:54.617Z,1758396954.617 [DAT](INFO): got valid direction response: 19:35:56.7924 LVL= 24224, 19505, 18482, 20563, AGC= 49, IDX= 499,-0.05, 0.144,-0.564,-0.632, 1.275, PHS=-1.029,-1.794,-1.951, RAW= 80.9, 63.1, CAL= 79.4, 67.2, ROT= 70.6, -67.2 2025-09-20T19:35:54.618Z,1758396954.618 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-09-20T19:35:54.623Z,1758396954.623 [DAT](INFO): direction in FSK: [0.128718,0.365514,0.921863] 2025-09-20T19:35:54.623Z,1758396954.623 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:54.635Z,1758396954.635 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.240011 2025-09-20T19:35:54.725Z,1758396954.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.508253 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:54.733Z,1758396954.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783255 m, bearing: 221.625287 deg, lat: 36.779285 deg, lon: -121.859592 deg, deltaT: 47.652213 s, deltaX: -6.073467 m, approachRate: -0.127454 m/s, posRepo size: 4 2025-09-20T19:35:54.734Z,1758396954.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:54.753Z,1758396954.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.596450 m, bearing: 201.788504 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 116.244533 deg, new cmd heading: 115.193010 deg. 2025-09-20T19:35:54.754Z,1758396954.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.010497 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:54.829Z,1758396954.829 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.442032 2025-09-20T19:35:55.046Z,1758396955.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:55.053Z,1758396955.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:55.059Z,1758396955.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.599683 m, bearing: 201.939719 deg, approach rate: 0.009870 m/s, LOS rate: 0.460630 deg/s, cmd heading: 115.193012 deg, new cmd heading: 115.494828 deg. 2025-09-20T19:35:55.060Z,1758396955.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.015765 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:55.081Z,1758396955.081 [DAT](INFO): DAT read: Rx Time:19:35:57.2923 2025-09-20T19:35:55.081Z,1758396955.081 [DAT](INFO): Rx dataTimestamp_ set to:1758396955.080883 2025-09-20T19:35:55.082Z,1758396955.082 [DAT](INFO): DAT read: Bearing 31.7, 25.7 (Local) 2025-09-20T19:35:55.083Z,1758396955.083 [DAT](INFO): Local bearing/azimuth received: Bearing 31.7, 25.7 (Local) 2025-09-20T19:35:55.090Z,1758396955.090 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.0 2025-09-20T19:35:55.096Z,1758396955.096 [DAT](INFO): DAT read: 19:35:57.2923 LVL= 21872, 19345, 16658, 20963, AGC= 49, IDX= 498, 0.05, 0.589, 0.093,-0.197, 1.761, PHS=-1.070,-1.623,-2.001, RAW= 66.2, 64.0, CAL= 64.0, 67.3, ROT= 86.0, -67.3 2025-09-20T19:35:55.097Z,1758396955.097 [DAT](INFO): got valid direction response: 19:35:57.2923 LVL= 21872, 19345, 16658, 20963, AGC= 49, IDX= 498, 0.05, 0.589, 0.093,-0.197, 1.761, PHS=-1.070,-1.623,-2.001, RAW= 66.2, 64.0, CAL= 64.0, 67.3, ROT= 86.0, -67.3 2025-09-20T19:35:55.097Z,1758396955.097 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-09-20T19:35:55.098Z,1758396955.098 [DAT](INFO): direction in FSK: [0.026919,0.384966,0.922538] 2025-09-20T19:35:55.098Z,1758396955.098 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:55.106Z,1758396955.106 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.719406 2025-09-20T19:35:55.332Z,1758396955.332 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.945290 2025-09-20T19:35:55.462Z,1758396955.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.499774 s, deltaX: -0.200000 m, approachRate: -0.400181 m/s, rangeRepo size: 4 2025-09-20T19:35:55.464Z,1758396955.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.584136 m, bearing: 237.825783 deg, lat: 36.779285 deg, lon: -121.859592 deg, deltaT: 48.151987 s, deltaX: -6.272586 m, approachRate: -0.130266 m/s, posRepo size: 4 2025-09-20T19:35:55.465Z,1758396955.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.58 m. 9.86 m. 2025-09-20T19:35:55.468Z,1758396955.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.603499 m, bearing: 202.113900 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 115.494824 deg, new cmd heading: 114.584336 deg. 2025-09-20T19:35:55.469Z,1758396955.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.999874 target range: 9.856723 and range: 3.60 m. 2025-09-20T19:35:55.588Z,1758396955.588 [DAT](INFO): DAT read: Rx Time:19:35:57.7924 2025-09-20T19:35:55.590Z,1758396955.590 [DAT](INFO): Rx dataTimestamp_ set to:1758396955.588587 2025-09-20T19:35:55.593Z,1758396955.593 [DAT](INFO): DAT read: Bearing 34.8, 25.9 (Local) 2025-09-20T19:35:55.595Z,1758396955.595 [DAT](INFO): Local bearing/azimuth received: Bearing 34.8, 25.9 (Local) 2025-09-20T19:35:55.607Z,1758396955.607 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:55.643Z,1758396955.643 [DAT](INFO): DAT read: 19:35:57.7924 LVL= 21296, 19921, 17138, 19763, AGC= 49, IDX= 499, 0.16, 1.979, 1.616, 1.217,-3.122, PHS=-1.080,-1.500,-1.988, RAW= 57.6, 64.0, CAL= 55.6, 67.1, ROT= 94.4, -67.1 2025-09-20T19:35:55.644Z,1758396955.644 [DAT](INFO): got valid direction response: 19:35:57.7924 LVL= 21296, 19921, 17138, 19763, AGC= 49, IDX= 499, 0.16, 1.979, 1.616, 1.217,-3.122, PHS=-1.080,-1.500,-1.988, RAW= 57.6, 64.0, CAL= 55.6, 67.1, ROT= 94.4, -67.1 2025-09-20T19:35:55.645Z,1758396955.645 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-09-20T19:35:55.646Z,1758396955.646 [DAT](INFO): direction in FSK: [-0.029853,0.387977,0.921185] 2025-09-20T19:35:55.646Z,1758396955.646 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:55.658Z,1758396955.658 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.271126 2025-09-20T19:35:55.836Z,1758396955.836 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.449467 2025-09-20T19:35:55.927Z,1758396955.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.507704 s, deltaX: 0.200000 m, approachRate: 0.393930 m/s, rangeRepo size: 4 2025-09-20T19:35:55.930Z,1758396955.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783253 m, bearing: 247.085062 deg, lat: 36.779285 deg, lon: -121.859592 deg, deltaT: 48.659691 s, deltaX: -6.073469 m, approachRate: -0.124815 m/s, posRepo size: 4 2025-09-20T19:35:55.933Z,1758396955.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:55.953Z,1758396955.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.607062 m, bearing: 202.396919 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 114.584333 deg, new cmd heading: 113.550706 deg. 2025-09-20T19:35:55.954Z,1758396955.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.981834 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:56.089Z,1758396956.089 [DAT](INFO): DAT read: Rx Time:19:35:58.2924 2025-09-20T19:35:56.089Z,1758396956.089 [DAT](INFO): Rx dataTimestamp_ set to:1758396956.088907 2025-09-20T19:35:56.090Z,1758396956.090 [DAT](INFO): DAT read: Bearing 33.8, 25.6 (Local) 2025-09-20T19:35:56.092Z,1758396956.092 [DAT](INFO): Local bearing/azimuth received: Bearing 33.8, 25.6 (Local) 2025-09-20T19:35:56.094Z,1758396956.094 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:56.098Z,1758396956.098 [DAT](INFO): DAT read: 19:35:58.2924 LVL= 21440, 19777, 17314, 19571, AGC= 49, IDX= 498, 0.31, 1.095, 0.717, 0.334, 2.277, PHS=-1.080,-1.515,-1.987, RAW= 58.6, 64.1, CAL= 56.6, 67.2, ROT= 93.4, -67.2 2025-09-20T19:35:56.100Z,1758396956.100 [DAT](INFO): got valid direction response: 19:35:58.2924 LVL= 21440, 19777, 17314, 19571, AGC= 49, IDX= 498, 0.31, 1.095, 0.717, 0.334, 2.277, PHS=-1.080,-1.515,-1.987, RAW= 58.6, 64.1, CAL= 56.6, 67.2, ROT= 93.4, -67.2 2025-09-20T19:35:56.100Z,1758396956.100 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-09-20T19:35:56.101Z,1758396956.101 [DAT](INFO): direction in FSK: [-0.022982,0.386834,0.921863] 2025-09-20T19:35:56.101Z,1758396956.101 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:56.106Z,1758396956.106 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.719397 2025-09-20T19:35:56.265Z,1758396956.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.500320 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:56.272Z,1758396956.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783253 m, bearing: 245.510469 deg, lat: 36.779287 deg, lon: -121.859592 deg, deltaT: 49.160011 s, deltaX: -6.073469 m, approachRate: -0.123545 m/s, posRepo size: 4 2025-09-20T19:35:56.273Z,1758396956.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:56.279Z,1758396956.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.609689 m, bearing: 202.598824 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 113.550706 deg, new cmd heading: 112.796683 deg. 2025-09-20T19:35:56.280Z,1758396956.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.968673 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:56.343Z,1758396956.343 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.955744 2025-09-20T19:35:56.596Z,1758396956.596 [DAT](INFO): DAT read: Rx Time:19:35:58.7925 2025-09-20T19:35:56.598Z,1758396956.598 [DAT](INFO): Rx dataTimestamp_ set to:1758396956.597184 2025-09-20T19:35:56.602Z,1758396956.602 [DAT](INFO): DAT read: Bearing 26.7, 24.3 (Local) 2025-09-20T19:35:56.603Z,1758396956.603 [DAT](INFO): Local bearing/azimuth received: Bearing 26.7, 24.3 (Local) 2025-09-20T19:35:56.610Z,1758396956.610 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:56.656Z,1758396956.656 [DAT](INFO): DAT read: 19:35:58.7925 LVL= 23216, 20129, 20402, 19363, AGC= 49, IDX= 500,-0.48, 0.374,-0.229,-0.389, 1.514, PHS=-1.037,-1.698,-1.947, RAW= 74.6, 63.8, CAL= 72.7, 67.5, ROT= 77.3, -67.5 2025-09-20T19:35:56.657Z,1758396956.657 [DAT](INFO): got valid direction response: 19:35:58.7925 LVL= 23216, 20129, 20402, 19363, AGC= 49, IDX= 500,-0.48, 0.374,-0.229,-0.389, 1.514, PHS=-1.037,-1.698,-1.947, RAW= 74.6, 63.8, CAL= 72.7, 67.5, ROT= 77.3, -67.5 2025-09-20T19:35:56.657Z,1758396956.657 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-09-20T19:35:56.658Z,1758396956.658 [DAT](INFO): direction in FSK: [0.084131,0.373321,0.923880] 2025-09-20T19:35:56.658Z,1758396956.658 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:56.662Z,1758396956.662 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.275646 2025-09-20T19:35:56.773Z,1758396956.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.508277 s, deltaX: 0.100000 m, approachRate: 0.196743 m/s, rangeRepo size: 4 2025-09-20T19:35:56.781Z,1758396956.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882817 m, bearing: 227.269009 deg, lat: 36.779287 deg, lon: -121.859592 deg, deltaT: 49.668288 s, deltaX: -5.973906 m, approachRate: -0.120276 m/s, posRepo size: 4 2025-09-20T19:35:56.782Z,1758396956.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:35:56.790Z,1758396956.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.619076 m, bearing: 202.818337 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 112.796681 deg, new cmd heading: 111.687857 deg. 2025-09-20T19:35:56.796Z,1758396956.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.949321 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:56.847Z,1758396956.847 [DAT](INFO): DAT read: Rx Time:19:35:59.2924 2025-09-20T19:35:56.849Z,1758396956.849 [DAT](INFO): Rx dataTimestamp_ set to:1758396956.847707 2025-09-20T19:35:56.852Z,1758396956.852 [DAT](INFO): DAT read: Bearing 24.6, 24.1 (Local) 2025-09-20T19:35:56.853Z,1758396956.853 [DAT](INFO): Local bearing/azimuth received: Bearing 24.6, 24.1 (Local) 2025-09-20T19:35:56.856Z,1758396956.856 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.468124 2025-09-20T19:35:57.078Z,1758396957.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:35:57.085Z,1758396957.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:57.098Z,1758396957.098 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:57.103Z,1758396957.103 [DAT](INFO): DAT read: 19:35:59.2924 LVL= 23872, 19553, 20018, 20467, AGC= 49, IDX= 499,-0.28,-1.202,-1.867,-1.974,-0.076, PHS=-1.024,-1.747,-1.942, RAW= 78.3, 63.3, CAL= 76.7, 67.2, ROT= 73.3, -67.2 2025-09-20T19:35:57.104Z,1758396957.104 [DAT](INFO): got valid direction response: 19:35:59.2924 LVL= 23872, 19553, 20018, 20467, AGC= 49, IDX= 499,-0.28,-1.202,-1.867,-1.974,-0.076, PHS=-1.024,-1.747,-1.942, RAW= 78.3, 63.3, CAL= 76.7, 67.2, ROT= 73.3, -67.2 2025-09-20T19:35:57.104Z,1758396957.104 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-09-20T19:35:57.105Z,1758396957.105 [DAT](INFO): direction in FSK: [0.111357,0.371171,0.921863] 2025-09-20T19:35:57.106Z,1758396957.106 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:57.109Z,1758396957.109 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.722717 2025-09-20T19:35:57.119Z,1758396957.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.625214 m, bearing: 202.958366 deg, approach rate: 0.019100 m/s, LOS rate: 0.434093 deg/s, cmd heading: 111.687854 deg, new cmd heading: 111.966851 deg. 2025-09-20T19:35:57.128Z,1758396957.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.954190 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:35:57.351Z,1758396957.351 [DAT](INFO): DAT read: Rx Time:19:35:59.7925 2025-09-20T19:35:57.353Z,1758396957.353 [DAT](INFO): Rx dataTimestamp_ set to:1758396957.352027 2025-09-20T19:35:57.356Z,1758396957.356 [DAT](INFO): DAT read: Bearing 23.4, 24.4 (Local) 2025-09-20T19:35:57.357Z,1758396957.357 [DAT](INFO): Local bearing/azimuth received: Bearing 23.4, 24.4 (Local) 2025-09-20T19:35:57.359Z,1758396957.359 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.972084 2025-09-20T19:35:57.480Z,1758396957.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.498310 s, deltaX: -0.100000 m, approachRate: -0.200679 m/s, rangeRepo size: 4 2025-09-20T19:35:57.482Z,1758396957.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783258 m, bearing: 222.766921 deg, lat: 36.779287 deg, lon: -121.859592 deg, deltaT: 50.166598 s, deltaX: -6.073465 m, approachRate: -0.121066 m/s, posRepo size: 4 2025-09-20T19:35:57.483Z,1758396957.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:57.486Z,1758396957.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.632903 m, bearing: 203.130268 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 111.966854 deg, new cmd heading: 111.086925 deg. 2025-09-20T19:35:57.488Z,1758396957.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938833 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:57.609Z,1758396957.609 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:57.675Z,1758396957.675 [DAT](INFO): DAT read: 19:35:59.7925 LVL= 20688, 21857, 18098, 21427, AGC= 49, IDX= 500,-0.15, 0.307,-0.407,-0.494, 1.426, PHS=-1.017,-1.788,-1.964, RAW= 80.0, 62.6, CAL= 78.4, 66.7, ROT= 71.6, -66.7 2025-09-20T19:35:57.677Z,1758396957.677 [DAT](INFO): got valid direction response: 19:35:59.7925 LVL= 20688, 21857, 18098, 21427, AGC= 49, IDX= 500,-0.15, 0.307,-0.407,-0.494, 1.426, PHS=-1.017,-1.788,-1.964, RAW= 80.0, 62.6, CAL= 78.4, 66.7, ROT= 71.6, -66.7 2025-09-20T19:35:57.677Z,1758396957.677 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-09-20T19:35:57.687Z,1758396957.687 [DAT](INFO): direction in FSK: [0.124854,0.375324,0.918446] 2025-09-20T19:35:57.687Z,1758396957.687 [DAT](INFO): publishing direction and range info 2025-09-20T19:35:57.699Z,1758396957.699 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.304117 2025-09-20T19:35:57.856Z,1758396957.856 [DAT](INFO): DAT read: Rx Time:19:36:00.2924 2025-09-20T19:35:57.857Z,1758396957.857 [DAT](INFO): Rx dataTimestamp_ set to:1758396957.856340 2025-09-20T19:35:57.861Z,1758396957.861 [DAT](INFO): DAT read: Bearing 23.6, 25.3 (Local) 2025-09-20T19:35:57.862Z,1758396957.862 [DAT](INFO): Local bearing/azimuth received: Bearing 23.6, 25.3 (Local) 2025-09-20T19:35:57.866Z,1758396957.866 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:57.881Z,1758396957.881 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-09-20T19:35:57.893Z,1758396957.893 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.505737 2025-09-20T19:35:57.985Z,1758396957.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.760846 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:57.987Z,1758396957.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783269 m, bearing: 221.093302 deg, lat: 36.779285 deg, lon: -121.859591 deg, deltaT: 50.927444 s, deltaX: -6.073454 m, approachRate: -0.119257 m/s, posRepo size: 4 2025-09-20T19:35:57.992Z,1758396957.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:57.994Z,1758396957.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.636024 m, bearing: 203.382171 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 111.086927 deg, new cmd heading: 109.975195 deg. 2025-09-20T19:35:57.000Z,1758396958.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.919429 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:58.108Z,1758396958.108 [DAT](INFO): DAT read: 19:36:00.2924 LVL= 22320, 19601, 20850, 20595, AGC= 49, IDX= 499,-0.07, 0.069,-0.646,-0.762, 1.168, PHS=-0.997,-1.769,-1.974, RAW= 78.5, 62.0, CAL= 76.8, 66.1, ROT= 73.2, -66.1 2025-09-20T19:35:58.109Z,1758396958.109 [DAT](INFO): got valid direction response: 19:36:00.2924 LVL= 22320, 19601, 20850, 20595, AGC= 49, IDX= 499,-0.07, 0.069,-0.646,-0.762, 1.168, PHS=-0.997,-1.769,-1.974, RAW= 78.5, 62.0, CAL= 76.8, 66.1, ROT= 73.2, -66.1 2025-09-20T19:35:58.109Z,1758396958.109 [DAT](INFO): #Rx 52: Read direction message, but no range. 2025-09-20T19:35:58.110Z,1758396958.110 [DAT](INFO): direction in FSK: [0.117099,0.387850,0.914254] 2025-09-20T19:35:58.114Z,1758396958.114 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.727097 2025-09-20T19:35:58.354Z,1758396958.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:35:58.360Z,1758396958.360 [DAT](INFO): DAT read: Rx Time:19:36:00.7924 2025-09-20T19:35:58.361Z,1758396958.361 [DAT](INFO): Rx dataTimestamp_ set to:1758396958.360416 2025-09-20T19:35:58.365Z,1758396958.365 [DAT](INFO): DAT read: Bearing 28.6, 26.8 (Local) 2025-09-20T19:35:58.366Z,1758396958.366 [DAT](INFO): Local bearing/azimuth received: Bearing 28.6, 26.8 (Local) 2025-09-20T19:35:58.390Z,1758396958.390 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:35:58.397Z,1758396958.397 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-09-20T19:35:58.401Z,1758396958.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.638502 m, bearing: 203.576002 deg, approach rate: 0.006664 m/s, LOS rate: 0.520579 deg/s, cmd heading: 109.975198 deg, new cmd heading: 110.362268 deg. 2025-09-20T19:35:58.402Z,1758396958.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.926185 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:58.407Z,1758396958.407 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.020651 2025-09-20T19:35:58.624Z,1758396958.624 [DAT](INFO): DAT read: 19:36:00.7924 LVL= 20288, 21361, 19362, 20755, AGC= 49, IDX= 499, 0.01, 1.018, 0.470, 0.169, 2.142, PHS=-1.021,-1.627,-2.016, RAW= 67.1, 62.2, CAL= 64.8, 65.8, ROT= 85.2, -65.8 2025-09-20T19:35:58.627Z,1758396958.627 [DAT](INFO): got valid direction response: 19:36:00.7924 LVL= 20288, 21361, 19362, 20755, AGC= 49, IDX= 499, 0.01, 1.018, 0.470, 0.169, 2.142, PHS=-1.021,-1.627,-2.016, RAW= 67.1, 62.2, CAL= 64.8, 65.8, ROT= 85.2, -65.8 2025-09-20T19:35:58.629Z,1758396958.629 [DAT](INFO): #Rx 54: Read direction message, but no range. 2025-09-20T19:35:58.633Z,1758396958.633 [DAT](INFO): direction in FSK: [0.034301,0.408485,0.912120] 2025-09-20T19:35:58.656Z,1758396958.656 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.269581 2025-09-20T19:35:58.825Z,1758396958.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:35:58.831Z,1758396958.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783266 m, bearing: 236.472049 deg, lat: 36.779285 deg, lon: -121.859591 deg, deltaT: 51.431520 s, deltaX: -6.073457 m, approachRate: -0.118088 m/s, posRepo size: 4 2025-09-20T19:35:58.832Z,1758396958.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:35:58.839Z,1758396958.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.640208 m, bearing: 203.763643 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 110.362272 deg, new cmd heading: 109.308572 deg. 2025-09-20T19:35:58.847Z,1758396958.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.907794 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:35:58.863Z,1758396958.863 [DAT](INFO): DAT read: Rx Time:19:36:01.2923 2025-09-20T19:35:58.865Z,1758396958.865 [DAT](INFO): Rx dataTimestamp_ set to:1758396958.863792 2025-09-20T19:35:58.868Z,1758396958.868 [DAT](INFO): DAT read: Bearing 26.5, 26.8 (Local) 2025-09-20T19:35:58.870Z,1758396958.870 [DAT](INFO): Local bearing/azimuth received: Bearing 26.5, 26.8 (Local) 2025-09-20T19:35:58.874Z,1758396958.874 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.0 2025-09-20T19:35:58.881Z,1758396958.881 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-09-20T19:35:58.893Z,1758396958.893 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.505512 2025-09-20T19:35:59.118Z,1758396959.118 [DAT](INFO): DAT read: 19:36:01.2923 LVL= 21152, 20577, 21170, 20339, AGC= 49, IDX= 498, 0.10, 0.803, 0.172,-0.069, 1.904, PHS=-0.999,-1.687,-2.017, RAW= 71.5, 61.6, CAL= 69.1, 65.4, ROT= 80.9, -65.4 2025-09-20T19:35:59.120Z,1758396959.120 [DAT](INFO): got valid direction response: 19:36:01.2923 LVL= 21152, 20577, 21170, 20339, AGC= 49, IDX= 498, 0.10, 0.803, 0.172,-0.069, 1.904, PHS=-0.999,-1.687,-2.017, RAW= 71.5, 61.6, CAL= 69.1, 65.4, ROT= 80.9, -65.4 2025-09-20T19:35:59.120Z,1758396959.120 [DAT](INFO): #Rx 56: Read direction message, but no range. 2025-09-20T19:35:59.122Z,1758396959.122 [DAT](INFO): direction in FSK: [0.065838,0.411041,0.909236] 2025-09-20T19:35:59.127Z,1758396959.127 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.739607 2025-09-20T19:35:59.306Z,1758396959.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.503376 s, deltaX: -0.200000 m, approachRate: -0.397317 m/s, rangeRepo size: 4 2025-09-20T19:35:59.313Z,1758396959.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.584146 m, bearing: 232.111872 deg, lat: 36.779285 deg, lon: -121.859591 deg, deltaT: 51.934896 s, deltaX: -6.272576 m, approachRate: -0.120778 m/s, posRepo size: 4 2025-09-20T19:35:59.314Z,1758396959.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.58 m. 9.86 m. 2025-09-20T19:35:59.320Z,1758396959.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.642090 m, bearing: 203.967142 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 109.308572 deg, new cmd heading: 108.238342 deg. 2025-09-20T19:35:59.321Z,1758396959.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.889115 target range: 9.856723 and range: 3.60 m. 2025-09-20T19:35:59.369Z,1758396959.369 [DAT](INFO): DAT read: Rx Time:19:36:01.7926 2025-09-20T19:35:59.370Z,1758396959.370 [DAT](INFO): Rx dataTimestamp_ set to:1758396959.369291 2025-09-20T19:35:59.373Z,1758396959.373 [DAT](INFO): DAT read: Bearing 27.1, 27.5 (Local) 2025-09-20T19:35:59.374Z,1758396959.374 [DAT](INFO): Local bearing/azimuth received: Bearing 27.1, 27.5 (Local) 2025-09-20T19:35:59.381Z,1758396959.381 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:35:59.399Z,1758396959.399 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-09-20T19:35:59.400Z,1758396959.400 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.013609 2025-09-20T19:35:59.629Z,1758396959.629 [DAT](INFO): DAT read: 19:36:01.7926 LVL= 21392, 22401, 18930, 20435, AGC= 50, IDX= 500, 0.22,-2.858, 2.808, 2.537,-1.775, PHS=-0.982,-1.655,-2.016, RAW= 69.9, 61.1, CAL= 67.5, 64.9, ROT= 82.5, -64.9 2025-09-20T19:35:59.641Z,1758396959.641 [DAT](INFO): got valid direction response: 19:36:01.7926 LVL= 21392, 22401, 18930, 20435, AGC= 50, IDX= 500, 0.22,-2.858, 2.808, 2.537,-1.775, PHS=-0.982,-1.655,-2.016, RAW= 69.9, 61.1, CAL= 67.5, 64.9, ROT= 82.5, -64.9 2025-09-20T19:35:59.642Z,1758396959.642 [DAT](INFO): #Rx 58: Read direction message, but no range. 2025-09-20T19:35:59.650Z,1758396959.650 [DAT](INFO): direction in FSK: [0.055369,0.420570,0.905569] 2025-09-20T19:35:59.692Z,1758396959.692 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.305311 2025-09-20T19:35:59.799Z,1758396959.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505499 s, deltaX: 0.500000 m, approachRate: 0.989122 m/s, rangeRepo size: 4 2025-09-20T19:35:59.802Z,1758396959.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081948 m, bearing: 234.393193 deg, lat: 36.779285 deg, lon: -121.859592 deg, deltaT: 52.440395 s, deltaX: -5.774775 m, approachRate: -0.110121 m/s, posRepo size: 4 2025-09-20T19:35:59.808Z,1758396959.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:35:59.815Z,1758396959.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.636288 m, bearing: 204.274868 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 108.238342 deg, new cmd heading: 107.151793 deg. 2025-09-20T19:35:59.816Z,1758396959.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870152 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:35:59.871Z,1758396959.871 [DAT](INFO): DAT read: Rx Time:19:36:02.2925 2025-09-20T19:35:59.873Z,1758396959.873 [DAT](INFO): Rx dataTimestamp_ set to:1758396959.872082 2025-09-20T19:35:59.876Z,1758396959.876 [DAT](INFO): DAT read: Bearing 25.1, 26.9 (Local) 2025-09-20T19:35:59.877Z,1758396959.877 [DAT](INFO): Local bearing/azimuth received: Bearing 25.1, 26.9 (Local) 2025-09-20T19:35:59.882Z,1758396959.882 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:35:59.884Z,1758396959.884 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-09-20T19:35:59.887Z,1758396959.887 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.499647 2025-09-20T19:36:00.079Z,1758396960.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:00.082Z,1758396960.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502791 s, deltaX: -0.200000 m, approachRate: -0.397779 m/s, rangeRepo size: 4 2025-09-20T19:36:00.083Z,1758396960.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:00.089Z,1758396960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.632643 m, bearing: 204.470643 deg, approach rate: -0.012670 m/s, LOS rate: 0.682086 deg/s, cmd heading: 107.151796 deg, new cmd heading: 107.544214 deg. 2025-09-20T19:36:00.090Z,1758396960.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.877001 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:00.125Z,1758396960.125 [DAT](INFO): DAT read: 19:36:02.2925 LVL= 20288, 21873, 19762, 19747, AGC= 49, IDX= 499, 0.38, 1.788, 1.103, 0.900, 2.863, PHS=-0.973,-1.715,-2.006, RAW= 74.1, 60.9, CAL= 71.9, 65.0, ROT= 78.1, -65.0 2025-09-20T19:36:00.126Z,1758396960.126 [DAT](INFO): got valid direction response: 19:36:02.2925 LVL= 20288, 21873, 19762, 19747, AGC= 49, IDX= 499, 0.38, 1.788, 1.103, 0.900, 2.863, PHS=-0.973,-1.715,-2.006, RAW= 74.1, 60.9, CAL= 71.9, 65.0, ROT= 78.1, -65.0 2025-09-20T19:36:00.126Z,1758396960.126 [DAT](INFO): #Rx 60: Read direction message, but no range. 2025-09-20T19:36:00.128Z,1758396960.128 [DAT](INFO): direction in FSK: [0.087146,0.413536,0.906308] 2025-09-20T19:36:00.131Z,1758396960.131 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.744816 2025-09-20T19:36:00.375Z,1758396960.375 [DAT](INFO): DAT read: Rx Time:19:36:02.7926 2025-09-20T19:36:00.376Z,1758396960.376 [DAT](INFO): Rx dataTimestamp_ set to:1758396960.375588 2025-09-20T19:36:00.380Z,1758396960.380 [DAT](INFO): DAT read: Bearing 22.5, 26.1 (Local) 2025-09-20T19:36:00.381Z,1758396960.381 [DAT](INFO): Local bearing/azimuth received: Bearing 22.5, 26.1 (Local) 2025-09-20T19:36:00.385Z,1758396960.385 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:00.388Z,1758396960.388 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-09-20T19:36:00.391Z,1758396960.391 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.003416 2025-09-20T19:36:00.505Z,1758396960.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503506 s, deltaX: 0.200000 m, approachRate: 0.397214 m/s, rangeRepo size: 4 2025-09-20T19:36:00.511Z,1758396960.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081948 m, bearing: 230.612489 deg, lat: 36.779285 deg, lon: -121.859593 deg, deltaT: 53.446692 s, deltaX: -5.774775 m, approachRate: -0.108047 m/s, posRepo size: 4 2025-09-20T19:36:00.512Z,1758396960.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:36:00.520Z,1758396960.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.627582 m, bearing: 204.745675 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 107.544218 deg, new cmd heading: 106.601931 deg. 2025-09-20T19:36:00.521Z,1758396960.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860555 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:00.638Z,1758396960.638 [DAT](INFO): DAT read: 19:36:02.7926 LVL= 20800, 21009, 19698, 20035, AGC= 49, IDX= 501,-0.39, 1.784, 1.006, 0.900, 2.844, PHS=-0.958,-1.793,-1.988, RAW= 79.8, 60.5, CAL= 78.0, 64.9, ROT= 72.0, -64.9 2025-09-20T19:36:00.648Z,1758396960.648 [DAT](INFO): got valid direction response: 19:36:02.7926 LVL= 20800, 21009, 19698, 20035, AGC= 49, IDX= 501,-0.39, 1.784, 1.006, 0.900, 2.844, PHS=-0.958,-1.793,-1.988, RAW= 79.8, 60.5, CAL= 78.0, 64.9, ROT= 72.0, -64.9 2025-09-20T19:36:00.650Z,1758396960.650 [DAT](INFO): #Rx 62: Read direction message, but no range. 2025-09-20T19:36:00.657Z,1758396960.657 [DAT](INFO): direction in FSK: [0.131085,0.403438,0.905569] 2025-09-20T19:36:00.687Z,1758396960.687 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.299889 2025-09-20T19:36:00.880Z,1758396960.880 [DAT](INFO): DAT read: Rx Time:19:36:03.2925 2025-09-20T19:36:00.881Z,1758396960.881 [DAT](INFO): Rx dataTimestamp_ set to:1758396960.880189 2025-09-20T19:36:00.884Z,1758396960.884 [DAT](INFO): DAT read: Bearing 18.0, 25.4 (Local) 2025-09-20T19:36:00.885Z,1758396960.885 [DAT](INFO): Local bearing/azimuth received: Bearing 18.0, 25.4 (Local) 2025-09-20T19:36:00.891Z,1758396960.891 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:00.893Z,1758396960.893 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-09-20T19:36:00.903Z,1758396960.903 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.516663 2025-09-20T19:36:00.989Z,1758396960.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504601 s, deltaX: -0.200000 m, approachRate: -0.396352 m/s, rangeRepo size: 4 2025-09-20T19:36:00.991Z,1758396960.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882829 m, bearing: 224.587467 deg, lat: 36.779285 deg, lon: -121.859593 deg, deltaT: 53.951293 s, deltaX: -5.973893 m, approachRate: -0.110728 m/s, posRepo size: 4 2025-09-20T19:36:01.004Z,1758396961.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:01.006Z,1758396961.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.616214 m, bearing: 204.952399 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 106.601932 deg, new cmd heading: 105.529306 deg. 2025-09-20T19:36:01.012Z,1758396961.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.841834 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:01.134Z,1758396961.134 [DAT](INFO): DAT read: 19:36:03.2925 LVL= 20624, 21697, 19506, 20563, AGC= 50, IDX= 500,-0.23, 0.166,-0.786,-0.732, 1.197, PHS=-0.928,-1.937,-1.973, RAW= 88.3, 59.0, CAL= 87.3, 63.5, ROT= 62.7, -63.5 2025-09-20T19:36:01.137Z,1758396961.137 [DAT](INFO): got valid direction response: 19:36:03.2925 LVL= 20624, 21697, 19506, 20563, AGC= 50, IDX= 500,-0.23, 0.166,-0.786,-0.732, 1.197, PHS=-0.928,-1.937,-1.973, RAW= 88.3, 59.0, CAL= 87.3, 63.5, ROT= 62.7, -63.5 2025-09-20T19:36:01.138Z,1758396961.138 [DAT](INFO): #Rx 64: Read direction message, but no range. 2025-09-20T19:36:01.139Z,1758396961.139 [DAT](INFO): direction in FSK: [0.204648,0.396499,0.894934] 2025-09-20T19:36:01.143Z,1758396961.143 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.756336 2025-09-20T19:36:01.285Z,1758396961.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:01.291Z,1758396961.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.608905 m, bearing: 205.087083 deg, approach rate: -0.024547 m/s, LOS rate: 0.454363 deg/s, cmd heading: 105.529305 deg, new cmd heading: 105.799896 deg. 2025-09-20T19:36:01.292Z,1758396961.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846557 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:01.384Z,1758396961.384 [DAT](INFO): DAT read: Rx Time:19:36:03.7925 2025-09-20T19:36:01.385Z,1758396961.385 [DAT](INFO): Rx dataTimestamp_ set to:1758396961.384126 2025-09-20T19:36:01.388Z,1758396961.388 [DAT](INFO): DAT read: Bearing 18.6, 25.7 (Local) 2025-09-20T19:36:01.389Z,1758396961.389 [DAT](INFO): Local bearing/azimuth received: Bearing 18.6, 25.7 (Local) 2025-09-20T19:36:01.394Z,1758396961.394 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:01.400Z,1758396961.400 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-09-20T19:36:01.401Z,1758396961.401 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.014366 2025-09-20T19:36:01.638Z,1758396961.638 [DAT](INFO): DAT read: 19:36:03.7925 LVL= 20688, 22481, 18930, 21427, AGC= 50, IDX= 500,-0.13, 1.058, 0.126, 0.154, 2.074, PHS=-0.914,-1.903,-1.964, RAW= 87.0, 58.9, CAL= 85.9, 63.4, ROT= 64.1, -63.4 2025-09-20T19:36:01.639Z,1758396961.639 [DAT](INFO): got valid direction response: 19:36:03.7925 LVL= 20688, 22481, 18930, 21427, AGC= 50, IDX= 500,-0.13, 1.058, 0.126, 0.154, 2.074, PHS=-0.914,-1.903,-1.964, RAW= 87.0, 58.9, CAL= 85.9, 63.4, ROT= 64.1, -63.4 2025-09-20T19:36:01.639Z,1758396961.639 [DAT](INFO): #Rx 66: Read direction message, but no range. 2025-09-20T19:36:01.640Z,1758396961.640 [DAT](INFO): direction in FSK: [0.195582,0.402785,0.894154] 2025-09-20T19:36:01.644Z,1758396961.644 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.256863 2025-09-20T19:36:01.814Z,1758396961.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503937 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:01.817Z,1758396961.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882828 m, bearing: 217.309508 deg, lat: 36.779284 deg, lon: -121.859592 deg, deltaT: 54.455230 s, deltaX: -5.973895 m, approachRate: -0.109703 m/s, posRepo size: 4 2025-09-20T19:36:01.818Z,1758396961.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:01.820Z,1758396961.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.593334 m, bearing: 205.218016 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 105.799897 deg, new cmd heading: 104.621729 deg. 2025-09-20T19:36:01.821Z,1758396961.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825994 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:01.888Z,1758396961.888 [DAT](INFO): DAT read: Rx Time:19:36:04.2924 2025-09-20T19:36:01.889Z,1758396961.889 [DAT](INFO): Rx dataTimestamp_ set to:1758396961.888286 2025-09-20T19:36:01.894Z,1758396961.894 [DAT](INFO): DAT read: Bearing 18.1, 26.0 (Local) 2025-09-20T19:36:01.898Z,1758396961.898 [DAT](INFO): Local bearing/azimuth received: Bearing 18.1, 26.0 (Local) 2025-09-20T19:36:01.902Z,1758396961.902 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:01.924Z,1758396961.924 [DAT](INFO): DAT read: 19:36:04.2924 LVL= 20000, 24481, 18418, 21331, AGC= 51, IDX= 499,-0.05, 0.067,-0.896,-0.852, 1.066, PHS=-0.896,-1.917,-1.961, RAW= 87.9, 58.3, CAL= 86.8, 62.9, ROT= 63.2, -62.9 2025-09-20T19:36:01.925Z,1758396961.925 [DAT](INFO): got valid direction response: 19:36:04.2924 LVL= 20000, 24481, 18418, 21331, AGC= 51, IDX= 499,-0.05, 0.067,-0.896,-0.852, 1.066, PHS=-0.896,-1.917,-1.961, RAW= 87.9, 58.3, CAL= 86.8, 62.9, ROT= 63.2, -62.9 2025-09-20T19:36:01.926Z,1758396961.926 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-09-20T19:36:01.932Z,1758396961.932 [DAT](INFO): direction in FSK: [0.205395,0.406613,0.890213] 2025-09-20T19:36:01.933Z,1758396961.933 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:01.968Z,1758396961.968 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.556107 2025-09-20T19:36:02.118Z,1758396962.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504160 s, deltaX: -0.100000 m, approachRate: -0.198350 m/s, rangeRepo size: 4 2025-09-20T19:36:02.133Z,1758396962.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783268 m, bearing: 216.817262 deg, lat: 36.779283 deg, lon: -121.859592 deg, deltaT: 54.959390 s, deltaX: -6.073455 m, approachRate: -0.110508 m/s, posRepo size: 4 2025-09-20T19:36:02.134Z,1758396962.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:36:02.136Z,1758396962.136 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.749454 2025-09-20T19:36:02.142Z,1758396962.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.585150 m, bearing: 205.287444 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 104.621730 deg, new cmd heading: 103.945869 deg. 2025-09-20T19:36:02.151Z,1758396962.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814198 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:02.392Z,1758396962.392 [DAT](INFO): DAT read: Rx Time:19:36:04.7925 2025-09-20T19:36:02.393Z,1758396962.393 [DAT](INFO): Rx dataTimestamp_ set to:1758396962.392184 2025-09-20T19:36:02.396Z,1758396962.396 [DAT](INFO): DAT read: Bearing 21.5, 27.0 (Local) 2025-09-20T19:36:02.397Z,1758396962.397 [DAT](INFO): Local bearing/azimuth received: Bearing 21.5, 27.0 (Local) 2025-09-20T19:36:02.401Z,1758396962.401 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:02.440Z,1758396962.440 [DAT](INFO): DAT read: 19:36:04.7925 LVL= 18032, 23121, 17778, 20963, AGC= 52, IDX= 500, 0.04, 2.891, 2.035, 1.961,-2.398, PHS=-0.893,-1.806,-1.968, RAW= 82.0, 58.7, CAL= 80.4, 63.4, ROT= 69.6, -63.4 2025-09-20T19:36:02.441Z,1758396962.441 [DAT](INFO): got valid direction response: 19:36:04.7925 LVL= 18032, 23121, 17778, 20963, AGC= 52, IDX= 500, 0.04, 2.891, 2.035, 1.961,-2.398, PHS=-0.893,-1.806,-1.968, RAW= 82.0, 58.7, CAL= 80.4, 63.4, ROT= 69.6, -63.4 2025-09-20T19:36:02.441Z,1758396962.441 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-09-20T19:36:02.442Z,1758396962.442 [DAT](INFO): direction in FSK: [0.156076,0.419676,0.894154] 2025-09-20T19:36:02.443Z,1758396962.443 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:02.478Z,1758396962.478 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.091660 2025-09-20T19:36:02.539Z,1758396962.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503898 s, deltaX: 0.100000 m, approachRate: 0.198453 m/s, rangeRepo size: 4 2025-09-20T19:36:02.555Z,1758396962.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882828 m, bearing: 223.973566 deg, lat: 36.779282 deg, lon: -121.859592 deg, deltaT: 55.463288 s, deltaX: -5.973895 m, approachRate: -0.107709 m/s, posRepo size: 4 2025-09-20T19:36:02.556Z,1758396962.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:02.563Z,1758396962.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.572381 m, bearing: 205.396398 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 103.945869 deg, new cmd heading: 103.009643 deg. 2025-09-20T19:36:02.564Z,1758396962.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797857 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:02.645Z,1758396962.645 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.257984 2025-09-20T19:36:02.899Z,1758396962.899 [DAT](INFO): DAT read: Rx Time:19:36:05.2925 2025-09-20T19:36:02.900Z,1758396962.900 [DAT](INFO): Rx dataTimestamp_ set to:1758396962.899470 2025-09-20T19:36:02.902Z,1758396962.902 [DAT](INFO): DAT read: Bearing 21.4, 26.9 (Local) 2025-09-20T19:36:02.903Z,1758396962.903 [DAT](INFO): Local bearing/azimuth received: Bearing 21.4, 26.9 (Local) 2025-09-20T19:36:02.907Z,1758396962.907 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:02.915Z,1758396962.915 [DAT](INFO): DAT read: 19:36:05.2925 LVL= 18768, 20881, 18034, 21427, AGC= 50, IDX= 499, 0.15, 1.940, 1.076, 1.019, 2.933, PHS=-0.891,-1.812,-1.958, RAW= 82.8, 58.7, CAL= 81.2, 63.4, ROT= 68.8, -63.4 2025-09-20T19:36:02.917Z,1758396962.917 [DAT](INFO): got valid direction response: 19:36:05.2925 LVL= 18768, 20881, 18034, 21427, AGC= 50, IDX= 499, 0.15, 1.940, 1.076, 1.019, 2.933, PHS=-0.891,-1.812,-1.958, RAW= 82.8, 58.7, CAL= 81.2, 63.4, ROT= 68.8, -63.4 2025-09-20T19:36:02.917Z,1758396962.917 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-09-20T19:36:02.919Z,1758396962.919 [DAT](INFO): direction in FSK: [0.161921,0.417456,0.894154] 2025-09-20T19:36:02.920Z,1758396962.920 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:02.940Z,1758396962.940 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.553768 2025-09-20T19:36:03.048Z,1758396963.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.507286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:03.050Z,1758396963.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882818 m, bearing: 223.544329 deg, lat: 36.779282 deg, lon: -121.859592 deg, deltaT: 55.970574 s, deltaX: -5.973905 m, approachRate: -0.106733 m/s, posRepo size: 4 2025-09-20T19:36:03.055Z,1758396963.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:03.058Z,1758396963.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.548735 m, bearing: 205.552914 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 103.009641 deg, new cmd heading: 101.885343 deg. 2025-09-20T19:36:03.059Z,1758396963.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778235 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:03.149Z,1758396963.149 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.761997 2025-09-20T19:36:03.298Z,1758396963.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:03.301Z,1758396963.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:03.304Z,1758396963.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.535490 m, bearing: 205.642137 deg, approach rate: -0.051455 m/s, LOS rate: 0.349617 deg/s, cmd heading: 101.885344 deg, new cmd heading: 102.065329 deg. 2025-09-20T19:36:03.305Z,1758396963.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.781376 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:03.402Z,1758396963.402 [DAT](INFO): DAT read: Rx Time:19:36:05.7926 2025-09-20T19:36:03.403Z,1758396963.403 [DAT](INFO): Rx dataTimestamp_ set to:1758396963.402258 2025-09-20T19:36:03.405Z,1758396963.405 [DAT](INFO): DAT read: Bearing 22.9, 27.1 (Local) 2025-09-20T19:36:03.406Z,1758396963.406 [DAT](INFO): Local bearing/azimuth received: Bearing 22.9, 27.1 (Local) 2025-09-20T19:36:03.409Z,1758396963.409 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:03.415Z,1758396963.415 [DAT](INFO): DAT read: 19:36:05.7926 LVL= 17072, 22001, 15730, 21155, AGC= 50, IDX= 500, 0.28,-2.916, 2.550, 2.457,-1.926, PHS=-0.888,-1.762,-1.945, RAW= 80.7, 58.9, CAL= 79.0, 63.6, ROT= 71.0, -63.6 2025-09-20T19:36:03.417Z,1758396963.417 [DAT](INFO): got valid direction response: 19:36:05.7926 LVL= 17072, 22001, 15730, 21155, AGC= 50, IDX= 500, 0.28,-2.916, 2.550, 2.457,-1.926, PHS=-0.888,-1.762,-1.945, RAW= 80.7, 58.9, CAL= 79.0, 63.6, ROT= 71.0, -63.6 2025-09-20T19:36:03.418Z,1758396963.418 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-09-20T19:36:03.419Z,1758396963.419 [DAT](INFO): direction in FSK: [0.144759,0.420411,0.895712] 2025-09-20T19:36:03.420Z,1758396963.420 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:03.426Z,1758396963.426 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.039490 2025-09-20T19:36:03.652Z,1758396963.652 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.265259 2025-09-20T19:36:03.771Z,1758396963.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.502788 s, deltaX: 0.200000 m, approachRate: 0.397782 m/s, rangeRepo size: 4 2025-09-20T19:36:03.778Z,1758396963.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081930 m, bearing: 226.715696 deg, lat: 36.779282 deg, lon: -121.859592 deg, deltaT: 56.473362 s, deltaX: -5.774793 m, approachRate: -0.102257 m/s, posRepo size: 4 2025-09-20T19:36:03.783Z,1758396963.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:36:03.791Z,1758396963.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.514139 m, bearing: 205.788613 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 102.065327 deg, new cmd heading: 101.020552 deg. 2025-09-20T19:36:03.793Z,1758396963.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.763141 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:03.906Z,1758396963.906 [DAT](INFO): DAT read: Rx Time:19:36:06.2925 2025-09-20T19:36:03.907Z,1758396963.907 [DAT](INFO): Rx dataTimestamp_ set to:1758396963.906457 2025-09-20T19:36:03.909Z,1758396963.909 [DAT](INFO): DAT read: Bearing 16.5, 27.0 (Local) 2025-09-20T19:36:03.910Z,1758396963.910 [DAT](INFO): Local bearing/azimuth received: Bearing 16.5, 27.0 (Local) 2025-09-20T19:36:03.913Z,1758396963.913 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:03.920Z,1758396963.920 [DAT](INFO): DAT read: 19:36:06.2925 LVL= 17120, 24225, 15538, 24403, AGC= 52, IDX= 499, 0.44, 1.748, 0.655, 0.778, 2.677, PHS=-0.827,-1.978,-1.943, RAW= 91.5, 56.0, CAL= 90.6, 60.8, ROT= 59.4, -60.8 2025-09-20T19:36:03.921Z,1758396963.921 [DAT](INFO): got valid direction response: 19:36:06.2925 LVL= 17120, 24225, 15538, 24403, AGC= 52, IDX= 499, 0.44, 1.748, 0.655, 0.778, 2.677, PHS=-0.827,-1.978,-1.943, RAW= 91.5, 56.0, CAL= 90.6, 60.8, ROT= 59.4, -60.8 2025-09-20T19:36:03.922Z,1758396963.922 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-09-20T19:36:03.924Z,1758396963.924 [DAT](INFO): direction in FSK: [0.248341,0.419921,0.872922] 2025-09-20T19:36:03.924Z,1758396963.924 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:03.941Z,1758396963.941 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.554401 2025-09-20T19:36:04.131Z,1758396964.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504199 s, deltaX: -0.200000 m, approachRate: -0.396668 m/s, rangeRepo size: 4 2025-09-20T19:36:04.133Z,1758396964.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882812 m, bearing: 214.776411 deg, lat: 36.779282 deg, lon: -121.859592 deg, deltaT: 56.977561 s, deltaX: -5.973911 m, approachRate: -0.104847 m/s, posRepo size: 4 2025-09-20T19:36:04.134Z,1758396964.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:04.137Z,1758396964.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.500762 m, bearing: 205.632611 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 101.020554 deg, new cmd heading: 100.218876 deg. 2025-09-20T19:36:04.138Z,1758396964.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749149 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:04.156Z,1758396964.156 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.769283 2025-09-20T19:36:04.410Z,1758396964.410 [DAT](INFO): DAT read: Rx Time:19:36:06.7926 2025-09-20T19:36:04.410Z,1758396964.410 [DAT](INFO): Rx dataTimestamp_ set to:1758396964.409875 2025-09-20T19:36:04.413Z,1758396964.413 [DAT](INFO): DAT read: Bearing 14.7, 26.9 (Local) 2025-09-20T19:36:04.413Z,1758396964.413 [DAT](INFO): Local bearing/azimuth received: Bearing 14.7, 26.9 (Local) 2025-09-20T19:36:04.416Z,1758396964.416 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:04.423Z,1758396964.423 [DAT](INFO): DAT read: 19:36:06.7926 LVL= 15664, 23633, 14802, 23267, AGC= 51, IDX= 501,-0.29, 0.941,-0.263,-0.056, 1.870, PHS=-0.826,-2.088,-1.970, RAW= 94.9, 55.1, CAL= 93.8, 59.9, ROT= 56.2, -59.9 2025-09-20T19:36:04.425Z,1758396964.425 [DAT](INFO): got valid direction response: 19:36:06.7926 LVL= 15664, 23633, 14802, 23267, AGC= 51, IDX= 501,-0.29, 0.941,-0.263,-0.056, 1.870, PHS=-0.826,-2.088,-1.970, RAW= 94.9, 55.1, CAL= 93.8, 59.9, ROT= 56.2, -59.9 2025-09-20T19:36:04.426Z,1758396964.426 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-09-20T19:36:04.427Z,1758396964.427 [DAT](INFO): direction in FSK: [0.278988,0.416748,0.865151] 2025-09-20T19:36:04.428Z,1758396964.428 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:04.432Z,1758396964.432 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.045483 2025-09-20T19:36:04.544Z,1758396964.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503418 s, deltaX: 0.200000 m, approachRate: 0.397284 m/s, rangeRepo size: 4 2025-09-20T19:36:04.546Z,1758396964.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081930 m, bearing: 211.571885 deg, lat: 36.779282 deg, lon: -121.859592 deg, deltaT: 57.480979 s, deltaX: -5.774793 m, approachRate: -0.100464 m/s, posRepo size: 4 2025-09-20T19:36:04.555Z,1758396964.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:36:04.558Z,1758396964.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.486362 m, bearing: 205.461620 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 100.218874 deg, new cmd heading: 99.308521 deg. 2025-09-20T19:36:04.563Z,1758396964.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733261 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:04.664Z,1758396964.664 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.275917 2025-09-20T19:36:04.914Z,1758396964.914 [DAT](INFO): DAT read: Rx Time:19:36:07.2925 2025-09-20T19:36:04.914Z,1758396964.914 [DAT](INFO): Rx dataTimestamp_ set to:1758396964.914158 2025-09-20T19:36:04.916Z,1758396964.916 [DAT](INFO): DAT read: Bearing 17.0, 27.5 (Local) 2025-09-20T19:36:04.917Z,1758396964.917 [DAT](INFO): Local bearing/azimuth received: Bearing 17.0, 27.5 (Local) 2025-09-20T19:36:04.925Z,1758396964.925 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:04.955Z,1758396964.955 [DAT](INFO): DAT read: 19:36:07.2925 LVL= 14640, 21265, 13538, 22515, AGC= 50, IDX= 500,-0.15, 0.044,-1.073,-0.959, 0.979, PHS=-0.833,-2.006,-1.982, RAW= 91.0, 55.7, CAL= 90.2, 60.6, ROT= 59.8, -60.6 2025-09-20T19:36:04.956Z,1758396964.956 [DAT](INFO): got valid direction response: 19:36:07.2925 LVL= 14640, 21265, 13538, 22515, AGC= 50, IDX= 500,-0.15, 0.044,-1.073,-0.959, 0.979, PHS=-0.833,-2.006,-1.982, RAW= 91.0, 55.7, CAL= 90.2, 60.6, ROT= 59.8, -60.6 2025-09-20T19:36:04.956Z,1758396964.956 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-09-20T19:36:04.957Z,1758396964.957 [DAT](INFO): direction in FSK: [0.246934,0.424276,0.871214] 2025-09-20T19:36:04.958Z,1758396964.958 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:04.969Z,1758396964.969 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.582733 2025-09-20T19:36:05.042Z,1758396965.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504283 s, deltaX: -0.200000 m, approachRate: -0.396602 m/s, rangeRepo size: 4 2025-09-20T19:36:05.048Z,1758396965.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882813 m, bearing: 215.415635 deg, lat: 36.779279 deg, lon: -121.859592 deg, deltaT: 57.985262 s, deltaX: -5.973909 m, approachRate: -0.103025 m/s, posRepo size: 4 2025-09-20T19:36:05.049Z,1758396965.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:05.056Z,1758396965.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.472013 m, bearing: 205.154581 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 99.308519 deg, new cmd heading: 98.191500 deg. 2025-09-20T19:36:05.057Z,1758396965.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713765 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:05.164Z,1758396965.164 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.777477 2025-09-20T19:36:05.318Z,1758396965.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:05.321Z,1758396965.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:05.324Z,1758396965.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.462796 m, bearing: 204.954983 deg, approach rate: -0.032994 m/s, LOS rate: -0.718945 deg/s, cmd heading: 98.191503 deg, new cmd heading: 97.789799 deg. 2025-09-20T19:36:05.325Z,1758396965.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706754 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:05.418Z,1758396965.418 [DAT](INFO): DAT read: Rx Time:19:36:07.7925 2025-09-20T19:36:05.419Z,1758396965.419 [DAT](INFO): Rx dataTimestamp_ set to:1758396965.418787 2025-09-20T19:36:05.421Z,1758396965.421 [DAT](INFO): DAT read: Bearing 11.3, 28.0 (Local) 2025-09-20T19:36:05.422Z,1758396965.422 [DAT](INFO): Local bearing/azimuth received: Bearing 11.3, 28.0 (Local) 2025-09-20T19:36:05.425Z,1758396965.425 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:05.432Z,1758396965.432 [DAT](INFO): DAT read: 19:36:07.7925 LVL= 15152, 23585, 13986, 25699, AGC= 52, IDX= 500,-0.08, 1.005,-0.424,-0.087, 1.853, PHS=-0.746,-2.233,-1.984, RAW= 99.0, 51.8, CAL= 97.6, 57.0, ROT= 52.4, -57.0 2025-09-20T19:36:05.434Z,1758396965.434 [DAT](INFO): got valid direction response: 19:36:07.7925 LVL= 15152, 23585, 13986, 25699, AGC= 52, IDX= 500,-0.08, 1.005,-0.424,-0.087, 1.853, PHS=-0.746,-2.233,-1.984, RAW= 99.0, 51.8, CAL= 97.6, 57.0, ROT= 52.4, -57.0 2025-09-20T19:36:05.434Z,1758396965.434 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-09-20T19:36:05.436Z,1758396965.436 [DAT](INFO): direction in FSK: [0.332309,0.431512,0.838671] 2025-09-20T19:36:05.436Z,1758396965.436 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:05.458Z,1758396965.458 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.070770 2025-09-20T19:36:05.668Z,1758396965.668 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.281326 2025-09-20T19:36:05.800Z,1758396965.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504629 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:05.807Z,1758396965.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882807 m, bearing: 207.794255 deg, lat: 36.779279 deg, lon: -121.859591 deg, deltaT: 58.489891 s, deltaX: -5.973916 m, approachRate: -0.102136 m/s, posRepo size: 4 2025-09-20T19:36:05.809Z,1758396965.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:05.816Z,1758396965.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.449413 m, bearing: 204.662328 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 97.789799 deg, new cmd heading: 96.734382 deg. 2025-09-20T19:36:05.817Z,1758396965.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.688334 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:05.922Z,1758396965.922 [DAT](INFO): DAT read: Rx Time:19:36:08.2924 2025-09-20T19:36:05.923Z,1758396965.923 [DAT](INFO): Rx dataTimestamp_ set to:1758396965.922000 2025-09-20T19:36:05.925Z,1758396965.925 [DAT](INFO): DAT read: Bearing 12.0, 28.5 (Local) 2025-09-20T19:36:05.925Z,1758396965.925 [DAT](INFO): Local bearing/azimuth received: Bearing 12.0, 28.5 (Local) 2025-09-20T19:36:05.928Z,1758396965.928 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:05.940Z,1758396965.940 [DAT](INFO): DAT read: 19:36:08.2924 LVL= 13904, 22737, 14946, 25699, AGC= 52, IDX= 499, 0.00, 0.806,-0.597,-0.299, 1.647, PHS=-0.739,-2.199,-1.990, RAW= 97.6, 51.9, CAL= 96.2, 57.1, ROT= 53.8, -57.1 2025-09-20T19:36:05.942Z,1758396965.942 [DAT](INFO): got valid direction response: 19:36:08.2924 LVL= 13904, 22737, 14946, 25699, AGC= 52, IDX= 499, 0.00, 0.806,-0.597,-0.299, 1.647, PHS=-0.739,-2.199,-1.990, RAW= 97.6, 51.9, CAL= 96.2, 57.1, ROT= 53.8, -57.1 2025-09-20T19:36:05.942Z,1758396965.942 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-09-20T19:36:05.952Z,1758396965.952 [DAT](INFO): direction in FSK: [0.320802,0.438320,0.839620] 2025-09-20T19:36:05.953Z,1758396965.953 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:05.993Z,1758396965.993 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.606434 2025-09-20T19:36:06.172Z,1758396966.172 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.785385 2025-09-20T19:36:06.199Z,1758396966.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503213 s, deltaX: -0.100000 m, approachRate: -0.198723 m/s, rangeRepo size: 4 2025-09-20T19:36:06.201Z,1758396966.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783248 m, bearing: 209.145071 deg, lat: 36.779277 deg, lon: -121.859591 deg, deltaT: 58.993104 s, deltaX: -6.073475 m, approachRate: -0.102952 m/s, posRepo size: 4 2025-09-20T19:36:06.202Z,1758396966.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:36:06.209Z,1758396966.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.441832 m, bearing: 204.274889 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 96.734385 deg, new cmd heading: 95.845025 deg. 2025-09-20T19:36:06.210Z,1758396966.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672811 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:06.426Z,1758396966.426 [DAT](INFO): DAT read: Rx Time:19:36:08.7926 2025-09-20T19:36:06.426Z,1758396966.426 [DAT](INFO): Rx dataTimestamp_ set to:1758396966.426043 2025-09-20T19:36:06.428Z,1758396966.428 [DAT](INFO): DAT read: Bearing 21.8, -8.1 (Local) 2025-09-20T19:36:06.428Z,1758396966.428 [DAT](INFO): Local bearing/azimuth received: Bearing 21.8, -8.1 (Local) 2025-09-20T19:36:06.430Z,1758396966.430 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:06.435Z,1758396966.435 [DAT](INFO): DAT read: 19:36:08.7926 LVL= 15056, 21921, 16354, 26099, AGC= 52, IDX= 503,-0.23,-1.578,-1.668,-1.019,-0.065, PHS=-1.412,-1.558,-0.998, RAW= 195.4, 70.3, CAL= 194.5, 74.4, ROT= 315.5, -74.4 2025-09-20T19:36:06.436Z,1758396966.436 [DAT](INFO): got valid direction response: 19:36:08.7926 LVL= 15056, 21921, 16354, 26099, AGC= 52, IDX= 503,-0.23,-1.578,-1.668,-1.019,-0.065, PHS=-1.412,-1.558,-0.998, RAW= 195.4, 70.3, CAL= 194.5, 74.4, ROT= 315.5, -74.4 2025-09-20T19:36:06.436Z,1758396966.436 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-09-20T19:36:06.437Z,1758396966.437 [DAT](INFO): direction in FSK: [0.191807,-0.188488,0.963163] 2025-09-20T19:36:06.437Z,1758396966.437 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:06.449Z,1758396966.449 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.062557 2025-09-20T19:36:06.573Z,1758396966.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504043 s, deltaX: 0.300000 m, approachRate: 0.595187 m/s, rangeRepo size: 4 2025-09-20T19:36:06.580Z,1758396966.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081921 m, bearing: 104.652601 deg, lat: 36.779277 deg, lon: -121.859591 deg, deltaT: 59.497147 s, deltaX: -5.774802 m, approachRate: -0.097060 m/s, posRepo size: 4 2025-09-20T19:36:06.581Z,1758396966.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:36:06.592Z,1758396966.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.435047 m, bearing: 203.921748 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 95.845026 deg, new cmd heading: 95.003645 deg. 2025-09-20T19:36:06.593Z,1758396966.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658126 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:06.677Z,1758396966.677 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.290306 2025-09-20T19:36:06.929Z,1758396966.929 [DAT](INFO): DAT read: Rx Time:19:36:09.2925 2025-09-20T19:36:06.929Z,1758396966.929 [DAT](INFO): Rx dataTimestamp_ set to:1758396966.928835 2025-09-20T19:36:06.930Z,1758396966.930 [DAT](INFO): DAT read: Bearing 20.4, -7.6 (Local) 2025-09-20T19:36:06.931Z,1758396966.931 [DAT](INFO): Local bearing/azimuth received: Bearing 20.4, -7.6 (Local) 2025-09-20T19:36:06.933Z,1758396966.933 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:06.938Z,1758396966.938 [DAT](INFO): DAT read: 19:36:09.2925 LVL= 15168, 19905, 16706, 25587, AGC= 52, IDX= 502,-0.12,-2.602,-2.726,-2.063,-1.137, PHS=-1.363,-1.545,-0.970, RAW= 192.0, 69.6, CAL= 191.2, 73.9, ROT= 318.8, -73.9 2025-09-20T19:36:06.939Z,1758396966.939 [DAT](INFO): got valid direction response: 19:36:09.2925 LVL= 15168, 19905, 16706, 25587, AGC= 52, IDX= 502,-0.12,-2.602,-2.726,-2.063,-1.137, PHS=-1.363,-1.545,-0.970, RAW= 192.0, 69.6, CAL= 191.2, 73.9, ROT= 318.8, -73.9 2025-09-20T19:36:06.939Z,1758396966.939 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-09-20T19:36:06.940Z,1758396966.940 [DAT](INFO): direction in FSK: [0.208656,-0.182664,0.960779] 2025-09-20T19:36:06.940Z,1758396966.940 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:06.948Z,1758396966.948 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.561253 2025-09-20T19:36:07.046Z,1758396967.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502792 s, deltaX: -0.200000 m, approachRate: -0.397778 m/s, rangeRepo size: 4 2025-09-20T19:36:07.052Z,1758396967.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882803 m, bearing: 105.924709 deg, lat: 36.779279 deg, lon: -121.859591 deg, deltaT: 59.999939 s, deltaX: -5.973920 m, approachRate: -0.099565 m/s, posRepo size: 4 2025-09-20T19:36:07.053Z,1758396967.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:07.060Z,1758396967.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.437004 m, bearing: 203.467538 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 95.003642 deg, new cmd heading: 93.951814 deg. 2025-09-20T19:36:07.061Z,1758396967.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639768 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:07.181Z,1758396967.181 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.794563 2025-09-20T19:36:07.342Z,1758396967.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:07.371Z,1758396967.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:07.386Z,1758396967.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.438238 m, bearing: 203.179364 deg, approach rate: 0.003814 m/s, LOS rate: -0.890385 deg/s, cmd heading: 93.951813 deg, new cmd heading: 93.375982 deg. 2025-09-20T19:36:07.393Z,1758396967.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629718 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:07.434Z,1758396967.434 [DAT](INFO): DAT read: Rx Time:19:36:09.7926 2025-09-20T19:36:07.434Z,1758396967.434 [DAT](INFO): Rx dataTimestamp_ set to:1758396967.433977 2025-09-20T19:36:07.436Z,1758396967.436 [DAT](INFO): DAT read: Bearing 19.0, -5.9 (Local) 2025-09-20T19:36:07.436Z,1758396967.436 [DAT](INFO): Local bearing/azimuth received: Bearing 19.0, -5.9 (Local) 2025-09-20T19:36:07.438Z,1758396967.438 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:07.443Z,1758396967.443 [DAT](INFO): DAT read: 19:36:09.7926 LVL= 18112, 17265, 17250, 22867, AGC= 50, IDX= 503,-0.09, 0.130,-0.057, 0.613, 1.557, PHS=-1.325,-1.569,-0.989, RAW= 185.3, 69.8, CAL= 184.8, 74.0, ROT= 325.2, -74.0 2025-09-20T19:36:07.444Z,1758396967.444 [DAT](INFO): got valid direction response: 19:36:09.7926 LVL= 18112, 17265, 17250, 22867, AGC= 50, IDX= 503,-0.09, 0.130,-0.057, 0.613, 1.557, PHS=-1.325,-1.569,-0.989, RAW= 185.3, 69.8, CAL= 184.8, 74.0, ROT= 325.2, -74.0 2025-09-20T19:36:07.445Z,1758396967.445 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-09-20T19:36:07.446Z,1758396967.446 [DAT](INFO): direction in FSK: [0.226339,-0.157310,0.961262] 2025-09-20T19:36:07.447Z,1758396967.447 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:07.462Z,1758396967.462 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.075085 2025-09-20T19:36:07.684Z,1758396967.684 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.297604 2025-09-20T19:36:07.821Z,1758396967.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505142 s, deltaX: 0.200000 m, approachRate: 0.395928 m/s, rangeRepo size: 4 2025-09-20T19:36:07.827Z,1758396967.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081923 m, bearing: 109.336188 deg, lat: 36.779288 deg, lon: -121.859568 deg, deltaT: 60.505081 s, deltaX: -5.774800 m, approachRate: -0.095443 m/s, posRepo size: 4 2025-09-20T19:36:07.828Z,1758396967.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:36:07.838Z,1758396967.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.439954 m, bearing: 202.769669 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 93.375981 deg, new cmd heading: 92.369960 deg. 2025-09-20T19:36:07.845Z,1758396967.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612160 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:07.937Z,1758396967.937 [DAT](INFO): DAT read: Rx Time:19:36:10.2925 2025-09-20T19:36:07.937Z,1758396967.937 [DAT](INFO): Rx dataTimestamp_ set to:1758396967.936853 2025-09-20T19:36:07.938Z,1758396967.938 [DAT](INFO): DAT read: Bearing 14.1, -5.2 (Local) 2025-09-20T19:36:07.939Z,1758396967.939 [DAT](INFO): Local bearing/azimuth received: Bearing 14.1, -5.2 (Local) 2025-09-20T19:36:07.941Z,1758396967.941 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:07.946Z,1758396967.946 [DAT](INFO): DAT read: 19:36:10.2925 LVL= 16560, 15713, 18354, 22483, AGC= 50, IDX= 502, 0.00,-0.144,-0.487, 0.324, 1.228, PHS=-1.269,-1.670,-0.948, RAW= 176.4, 65.5, CAL= 176.5, 70.7, ROT= 333.5, -70.7 2025-09-20T19:36:07.947Z,1758396967.947 [DAT](INFO): got valid direction response: 19:36:10.2925 LVL= 16560, 15713, 18354, 22483, AGC= 50, IDX= 502, 0.00,-0.144,-0.487, 0.324, 1.228, PHS=-1.269,-1.670,-0.948, RAW= 176.4, 65.5, CAL= 176.5, 70.7, ROT= 333.5, -70.7 2025-09-20T19:36:07.948Z,1758396967.948 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-09-20T19:36:07.949Z,1758396967.949 [DAT](INFO): direction in FSK: [0.295789,-0.147475,0.943801] 2025-09-20T19:36:07.949Z,1758396967.949 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:07.953Z,1758396967.953 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.565845 2025-09-20T19:36:08.188Z,1758396968.188 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.801376 2025-09-20T19:36:08.230Z,1758396968.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502876 s, deltaX: -0.200000 m, approachRate: -0.397712 m/s, rangeRepo size: 4 2025-09-20T19:36:08.236Z,1758396968.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882805 m, bearing: 118.234469 deg, lat: 36.779288 deg, lon: -121.859568 deg, deltaT: 61.007957 s, deltaX: -5.973918 m, approachRate: -0.097920 m/s, posRepo size: 4 2025-09-20T19:36:08.237Z,1758396968.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:08.244Z,1758396968.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.449753 m, bearing: 202.469451 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 92.369962 deg, new cmd heading: 91.459807 deg. 2025-09-20T19:36:08.245Z,1758396968.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.596275 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:08.441Z,1758396968.441 [DAT](INFO): DAT read: Rx Time:19:36:10.7926 2025-09-20T19:36:08.441Z,1758396968.441 [DAT](INFO): Rx dataTimestamp_ set to:1758396968.441157 2025-09-20T19:36:08.443Z,1758396968.443 [DAT](INFO): DAT read: Bearing 8.4, -3.3 (Local) 2025-09-20T19:36:08.443Z,1758396968.443 [DAT](INFO): Local bearing/azimuth received: Bearing 8.4, -3.3 (Local) 2025-09-20T19:36:08.445Z,1758396968.445 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:08.450Z,1758396968.450 [DAT](INFO): DAT read: 19:36:10.7926 LVL= 17104, 13249, 16786, 20403, AGC= 49, IDX= 503, 0.07, 2.013, 1.429, 2.418,-2.973, PHS=-1.195,-1.836,-0.936, RAW= 166.2, 60.2, CAL= 167.2, 66.6, ROT= 342.8, -66.6 2025-09-20T19:36:08.451Z,1758396968.451 [DAT](INFO): got valid direction response: 19:36:10.7926 LVL= 17104, 13249, 16786, 20403, AGC= 49, IDX= 503, 0.07, 2.013, 1.429, 2.418,-2.973, PHS=-1.195,-1.836,-0.936, RAW= 166.2, 60.2, CAL= 167.2, 66.6, ROT= 342.8, -66.6 2025-09-20T19:36:08.451Z,1758396968.451 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-09-20T19:36:08.452Z,1758396968.452 [DAT](INFO): direction in FSK: [0.379387,-0.117440,0.917755] 2025-09-20T19:36:08.453Z,1758396968.453 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:08.456Z,1758396968.456 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.069687 2025-09-20T19:36:08.574Z,1758396968.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504304 s, deltaX: 0.200000 m, approachRate: 0.396586 m/s, rangeRepo size: 4 2025-09-20T19:36:08.589Z,1758396968.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081923 m, bearing: 128.470716 deg, lat: 36.779288 deg, lon: -121.859568 deg, deltaT: 61.512261 s, deltaX: -5.774800 m, approachRate: -0.093880 m/s, posRepo size: 4 2025-09-20T19:36:08.590Z,1758396968.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:36:08.601Z,1758396968.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.457437 m, bearing: 202.232081 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 91.459805 deg, new cmd heading: 90.694139 deg. 2025-09-20T19:36:08.602Z,1758396968.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.582911 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:08.693Z,1758396968.693 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.306309 2025-09-20T19:36:08.945Z,1758396968.945 [DAT](INFO): DAT read: Rx Time:19:36:11.2925 2025-09-20T19:36:08.945Z,1758396968.945 [DAT](INFO): Rx dataTimestamp_ set to:1758396968.944787 2025-09-20T19:36:08.946Z,1758396968.946 [DAT](INFO): DAT read: Bearing 2.0, -2.4 (Local) 2025-09-20T19:36:08.947Z,1758396968.947 [DAT](INFO): Local bearing/azimuth received: Bearing 2.0, -2.4 (Local) 2025-09-20T19:36:08.949Z,1758396968.949 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:08.954Z,1758396968.954 [DAT](INFO): DAT read: 19:36:11.2925 LVL= 18736, 12369, 17714, 19219, AGC= 49, IDX= 502, 0.19, 1.087, 0.206, 1.464, 2.330, PHS=-1.141,-2.080,-0.910, RAW= 160.7, 53.7, CAL= 162.6, 61.5, ROT= 347.4, -61.5 2025-09-20T19:36:08.955Z,1758396968.955 [DAT](INFO): got valid direction response: 19:36:11.2925 LVL= 18736, 12369, 17714, 19219, AGC= 49, IDX= 502, 0.19, 1.087, 0.206, 1.464, 2.330, PHS=-1.141,-2.080,-0.910, RAW= 160.7, 53.7, CAL= 162.6, 61.5, ROT= 347.4, -61.5 2025-09-20T19:36:08.955Z,1758396968.955 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-09-20T19:36:08.956Z,1758396968.956 [DAT](INFO): direction in FSK: [0.465667,-0.104089,0.878817] 2025-09-20T19:36:08.957Z,1758396968.957 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:08.960Z,1758396968.960 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.573627 2025-09-20T19:36:09.070Z,1758396969.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503630 s, deltaX: -0.200000 m, approachRate: -0.397117 m/s, rangeRepo size: 4 2025-09-20T19:36:09.077Z,1758396969.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882801 m, bearing: 134.004865 deg, lat: 36.779286 deg, lon: -121.859568 deg, deltaT: 62.015891 s, deltaX: -5.973922 m, approachRate: -0.096329 m/s, posRepo size: 4 2025-09-20T19:36:09.078Z,1758396969.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:09.084Z,1758396969.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.479052 m, bearing: 202.310416 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 90.694141 deg, new cmd heading: 89.589375 deg. 2025-09-20T19:36:09.085Z,1758396969.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563630 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:09.196Z,1758396969.196 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.809464 2025-09-20T19:36:09.408Z,1758396969.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:09.431Z,1758396969.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:09.434Z,1758396969.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.494759 m, bearing: 202.358308 deg, approach rate: 0.046103 m/s, LOS rate: 0.139092 deg/s, cmd heading: 89.589378 deg, new cmd heading: 89.684156 deg. 2025-09-20T19:36:09.435Z,1758396969.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565284 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:09.449Z,1758396969.449 [DAT](INFO): DAT read: Rx Time:19:36:11.7925 2025-09-20T19:36:09.449Z,1758396969.449 [DAT](INFO): Rx dataTimestamp_ set to:1758396969.448849 2025-09-20T19:36:09.450Z,1758396969.450 [DAT](INFO): DAT read: Bearing 357.1, -1.9 (Local) 2025-09-20T19:36:09.451Z,1758396969.451 [DAT](INFO): Local bearing/azimuth received: Bearing 357.1, -1.9 (Local) 2025-09-20T19:36:09.453Z,1758396969.453 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:09.458Z,1758396969.458 [DAT](INFO): DAT read: 19:36:11.7925 LVL= 17952, 12657, 20706, 22163, AGC= 50, IDX= 502, 0.40, 0.702,-0.444, 1.065, 1.904, PHS=-1.100,-2.303,-0.883, RAW= 158.1, 48.8, CAL= 160.5, 57.6, ROT= 349.5, -57.6 2025-09-20T19:36:09.459Z,1758396969.459 [DAT](INFO): got valid direction response: 19:36:11.7925 LVL= 17952, 12657, 20706, 22163, AGC= 50, IDX= 502, 0.40, 0.702,-0.444, 1.065, 1.904, PHS=-1.100,-2.303,-0.883, RAW= 158.1, 48.8, CAL= 160.5, 57.6, ROT= 349.5, -57.6 2025-09-20T19:36:09.459Z,1758396969.459 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-09-20T19:36:09.460Z,1758396969.460 [DAT](INFO): direction in FSK: [0.526854,-0.097647,0.844328] 2025-09-20T19:36:09.460Z,1758396969.460 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:09.497Z,1758396969.497 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.110661 2025-09-20T19:36:09.700Z,1758396969.700 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.313496 2025-09-20T19:36:09.864Z,1758396969.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:09.874Z,1758396969.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882747 m, bearing: 135.535939 deg, lat: 36.779283 deg, lon: -121.859567 deg, deltaT: 62.519953 s, deltaX: -5.973976 m, approachRate: -0.095553 m/s, posRepo size: 4 2025-09-20T19:36:09.886Z,1758396969.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:09.897Z,1758396969.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.511381 m, bearing: 202.399871 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 89.684154 deg, new cmd heading: 88.701500 deg. 2025-09-20T19:36:09.899Z,1758396969.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548133 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:09.953Z,1758396969.953 [DAT](INFO): DAT read: Rx Time:19:36:12.2925 2025-09-20T19:36:09.953Z,1758396969.953 [DAT](INFO): Rx dataTimestamp_ set to:1758396969.953094 2025-09-20T19:36:09.955Z,1758396969.955 [DAT](INFO): DAT read: Bearing 353.5, -1.1 (Local) 2025-09-20T19:36:09.955Z,1758396969.955 [DAT](INFO): Local bearing/azimuth received: Bearing 353.5, -1.1 (Local) 2025-09-20T19:36:09.957Z,1758396969.957 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:09.962Z,1758396969.962 [DAT](INFO): DAT read: 19:36:12.2925 LVL= 16688, 10657, 18738, 19539, AGC= 49, IDX= 501, 0.48, 0.435,-0.979, 0.762, 1.623, PHS=-1.086,-2.557,-0.905, RAW= 155.7, 45.7, CAL= 158.7, 55.1, ROT= 351.3, -55.1 2025-09-20T19:36:09.963Z,1758396969.963 [DAT](INFO): got valid direction response: 19:36:12.2925 LVL= 16688, 10657, 18738, 19539, AGC= 49, IDX= 501, 0.48, 0.435,-0.979, 0.762, 1.623, PHS=-1.086,-2.557,-0.905, RAW= 155.7, 45.7, CAL= 158.7, 55.1, ROT= 351.3, -55.1 2025-09-20T19:36:09.963Z,1758396969.963 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-09-20T19:36:09.964Z,1758396969.964 [DAT](INFO): direction in FSK: [0.565563,-0.086543,0.820152] 2025-09-20T19:36:09.964Z,1758396969.964 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:09.978Z,1758396969.978 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.591568 2025-09-20T19:36:10.204Z,1758396970.204 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.817425 2025-09-20T19:36:10.242Z,1758396970.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:10.248Z,1758396970.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882747 m, bearing: 137.180813 deg, lat: 36.779281 deg, lon: -121.859566 deg, deltaT: 63.024198 s, deltaX: -5.973976 m, approachRate: -0.094789 m/s, posRepo size: 4 2025-09-20T19:36:10.249Z,1758396970.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:10.256Z,1758396970.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.538304 m, bearing: 202.813410 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 88.701502 deg, new cmd heading: 87.835472 deg. 2025-09-20T19:36:10.257Z,1758396970.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533018 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:10.456Z,1758396970.456 [DAT](INFO): DAT read: Rx Time:19:36:12.7926 2025-09-20T19:36:10.457Z,1758396970.457 [DAT](INFO): Rx dataTimestamp_ set to:1758396970.456297 2025-09-20T19:36:10.458Z,1758396970.458 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:10.458Z,1758396970.458 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-09-20T19:36:10.459Z,1758396970.459 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.072727 2025-09-20T19:36:10.577Z,1758396970.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503203 s, deltaX: 0.200000 m, approachRate: 0.397454 m/s, rangeRepo size: 4 2025-09-20T19:36:10.577Z,1758396970.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:10.581Z,1758396970.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.559969 m, bearing: 203.123283 deg, approach rate: 0.065732 m/s, LOS rate: 0.927095 deg/s, cmd heading: 87.835475 deg, new cmd heading: 88.446589 deg. 2025-09-20T19:36:10.582Z,1758396970.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543684 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:10.709Z,1758396970.709 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.322308 2025-09-20T19:36:10.960Z,1758396970.960 [DAT](INFO): DAT read: Rx Time:19:36:13.2925 2025-09-20T19:36:10.961Z,1758396970.961 [DAT](INFO): Rx dataTimestamp_ set to:1758396970.960276 2025-09-20T19:36:10.962Z,1758396970.962 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:10.962Z,1758396970.962 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-09-20T19:36:10.963Z,1758396970.963 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.576675 2025-09-20T19:36:11.022Z,1758396971.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503979 s, deltaX: -0.200000 m, approachRate: -0.396842 m/s, rangeRepo size: 4 2025-09-20T19:36:11.022Z,1758396971.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:11.029Z,1758396971.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.583228 m, bearing: 203.593743 deg, approach rate: 0.051665 m/s, LOS rate: 1.029696 deg/s, cmd heading: 88.446592 deg, new cmd heading: 89.373598 deg. 2025-09-20T19:36:11.030Z,1758396971.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559864 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:11.212Z,1758396971.212 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.825306 2025-09-20T19:36:11.380Z,1758396971.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:11.386Z,1758396971.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.602729 m, bearing: 203.965664 deg, approach rate: 0.054456 m/s, LOS rate: 1.025895 deg/s, cmd heading: 89.373599 deg, new cmd heading: 90.108343 deg. 2025-09-20T19:36:11.388Z,1758396971.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572687 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:11.465Z,1758396971.465 [DAT](INFO): DAT read: Rx Time:19:36:13.7926 2025-09-20T19:36:11.466Z,1758396971.466 [DAT](INFO): Rx dataTimestamp_ set to:1758396971.465309 2025-09-20T19:36:11.468Z,1758396971.468 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:11.468Z,1758396971.468 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-09-20T19:36:11.469Z,1758396971.469 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.082455 2025-09-20T19:36:11.716Z,1758396971.716 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.329369 2025-09-20T19:36:11.785Z,1758396971.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:11.813Z,1758396971.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505033 s, deltaX: 0.200000 m, approachRate: 0.396013 m/s, rangeRepo size: 4 2025-09-20T19:36:11.821Z,1758396971.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:11.844Z,1758396971.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.624269 m, bearing: 204.354251 deg, approach rate: 0.052761 m/s, LOS rate: 0.939214 deg/s, cmd heading: 90.108343 deg, new cmd heading: 90.875160 deg. 2025-09-20T19:36:11.853Z,1758396971.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.586071 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:11.968Z,1758396971.968 [DAT](INFO): DAT read: Rx Time:19:36:14.2925 2025-09-20T19:36:11.969Z,1758396971.969 [DAT](INFO): Rx dataTimestamp_ set to:1758396971.968356 2025-09-20T19:36:11.970Z,1758396971.970 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:11.970Z,1758396971.970 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-09-20T19:36:11.971Z,1758396971.971 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.584770 2025-09-20T19:36:12.217Z,1758396972.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503047 s, deltaX: -0.200000 m, approachRate: -0.397577 m/s, rangeRepo size: 4 2025-09-20T19:36:12.218Z,1758396972.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:12.220Z,1758396972.220 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.833725 2025-09-20T19:36:12.222Z,1758396972.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.649173 m, bearing: 204.877111 deg, approach rate: 0.058055 m/s, LOS rate: 1.200420 deg/s, cmd heading: 90.875161 deg, new cmd heading: 91.904965 deg. 2025-09-20T19:36:12.224Z,1758396972.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604044 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:12.472Z,1758396972.472 [DAT](INFO): DAT read: Rx Time:19:36:14.7926 2025-09-20T19:36:12.473Z,1758396972.473 [DAT](INFO): Rx dataTimestamp_ set to:1758396972.472386 2025-09-20T19:36:12.474Z,1758396972.474 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:12.474Z,1758396972.474 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-09-20T19:36:12.475Z,1758396972.475 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.088806 2025-09-20T19:36:12.588Z,1758396972.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504030 s, deltaX: 0.200000 m, approachRate: 0.396801 m/s, rangeRepo size: 4 2025-09-20T19:36:12.589Z,1758396972.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:12.592Z,1758396972.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.670474 m, bearing: 205.301444 deg, approach rate: 0.057444 m/s, LOS rate: 1.129738 deg/s, cmd heading: 91.904963 deg, new cmd heading: 92.742740 deg. 2025-09-20T19:36:12.593Z,1758396972.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618666 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:12.725Z,1758396972.725 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.337826 2025-09-20T19:36:12.976Z,1758396972.976 [DAT](INFO): DAT read: Rx Time:19:36:15.2925 2025-09-20T19:36:12.977Z,1758396972.977 [DAT](INFO): Rx dataTimestamp_ set to:1758396972.976424 2025-09-20T19:36:12.978Z,1758396972.978 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:12.978Z,1758396972.978 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-09-20T19:36:12.980Z,1758396972.980 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.592846 2025-09-20T19:36:13.012Z,1758396973.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504038 s, deltaX: -0.200000 m, approachRate: -0.396795 m/s, rangeRepo size: 4 2025-09-20T19:36:13.013Z,1758396973.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:13.040Z,1758396973.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.686326 m, bearing: 205.786978 deg, approach rate: 0.037387 m/s, LOS rate: 1.134342 deg/s, cmd heading: 92.742740 deg, new cmd heading: 93.704578 deg. 2025-09-20T19:36:13.041Z,1758396973.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635453 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:13.228Z,1758396973.228 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.841362 2025-09-20T19:36:13.416Z,1758396973.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:13.419Z,1758396973.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.701471 m, bearing: 206.233352 deg, approach rate: 0.037386 m/s, LOS rate: 1.092084 deg/s, cmd heading: 93.704581 deg, new cmd heading: 94.589304 deg. 2025-09-20T19:36:13.420Z,1758396973.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650895 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:13.480Z,1758396973.480 [DAT](INFO): DAT read: Rx Time:19:36:15.7926 2025-09-20T19:36:13.481Z,1758396973.481 [DAT](INFO): Rx dataTimestamp_ set to:1758396973.480467 2025-09-20T19:36:13.482Z,1758396973.482 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:13.483Z,1758396973.483 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-09-20T19:36:13.484Z,1758396973.484 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.096897 2025-09-20T19:36:13.732Z,1758396973.732 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.345306 2025-09-20T19:36:13.804Z,1758396973.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:13.824Z,1758396973.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504043 s, deltaX: 0.200000 m, approachRate: 0.396791 m/s, rangeRepo size: 4 2025-09-20T19:36:13.832Z,1758396973.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:13.857Z,1758396973.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.716194 m, bearing: 206.652651 deg, approach rate: 0.037664 m/s, LOS rate: 1.063377 deg/s, cmd heading: 94.589302 deg, new cmd heading: 95.420639 deg. 2025-09-20T19:36:13.864Z,1758396973.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665404 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:13.985Z,1758396973.985 [DAT](INFO): DAT read: Rx Time:19:36:16.2925 2025-09-20T19:36:13.985Z,1758396973.985 [DAT](INFO): Rx dataTimestamp_ set to:1758396973.985197 2025-09-20T19:36:13.987Z,1758396973.987 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:13.988Z,1758396973.988 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-09-20T19:36:13.989Z,1758396973.989 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.602711 2025-09-20T19:36:14.195Z,1758396974.195 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:36:14.236Z,1758396974.236 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.849480 2025-09-20T19:36:14.246Z,1758396974.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504730 s, deltaX: -0.200000 m, approachRate: -0.396251 m/s, rangeRepo size: 4 2025-09-20T19:36:14.252Z,1758396974.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:14.254Z,1758396974.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.726448 m, bearing: 206.925572 deg, approach rate: 0.023382 m/s, LOS rate: 0.618639 deg/s, cmd heading: 95.420639 deg, new cmd heading: 95.963221 deg. 2025-09-20T19:36:14.260Z,1758396974.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674874 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:14.488Z,1758396974.488 [DAT](INFO): DAT read: Rx Time:19:36:16.7926 2025-09-20T19:36:14.489Z,1758396974.489 [DAT](INFO): Rx dataTimestamp_ set to:1758396974.488612 2025-09-20T19:36:14.490Z,1758396974.490 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:14.491Z,1758396974.491 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-09-20T19:36:14.492Z,1758396974.492 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.105015 2025-09-20T19:36:14.616Z,1758396974.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503415 s, deltaX: 0.200000 m, approachRate: 0.397286 m/s, rangeRepo size: 4 2025-09-20T19:36:14.617Z,1758396974.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:14.620Z,1758396974.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.735581 m, bearing: 207.163907 deg, approach rate: 0.024665 m/s, LOS rate: 0.640306 deg/s, cmd heading: 95.963222 deg, new cmd heading: 96.437371 deg. 2025-09-20T19:36:14.621Z,1758396974.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683150 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:14.741Z,1758396974.741 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.354321 2025-09-20T19:36:14.992Z,1758396974.992 [DAT](INFO): DAT read: Rx Time:19:36:17.2925 2025-09-20T19:36:14.992Z,1758396974.992 [DAT](INFO): Rx dataTimestamp_ set to:1758396974.992173 2025-09-20T19:36:14.994Z,1758396974.994 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:14.994Z,1758396974.994 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-09-20T19:36:14.995Z,1758396974.995 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.608585 2025-09-20T19:36:15.068Z,1758396975.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503561 s, deltaX: -0.200000 m, approachRate: -0.397171 m/s, rangeRepo size: 4 2025-09-20T19:36:15.069Z,1758396975.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:15.072Z,1758396975.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.742404 m, bearing: 207.371949 deg, approach rate: 0.015128 m/s, LOS rate: 0.459446 deg/s, cmd heading: 96.437374 deg, new cmd heading: 96.851821 deg. 2025-09-20T19:36:15.073Z,1758396975.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.690383 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:15.199Z,1758396975.199 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:36:15.244Z,1758396975.244 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.857315 2025-09-20T19:36:15.439Z,1758396975.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:15.442Z,1758396975.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.747796 m, bearing: 207.534618 deg, approach rate: 0.015156 m/s, LOS rate: 0.455833 deg/s, cmd heading: 96.851823 deg, new cmd heading: 97.176152 deg. 2025-09-20T19:36:15.444Z,1758396975.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.696044 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:15.497Z,1758396975.497 [DAT](INFO): DAT read: Rx Time:19:36:17.7926 2025-09-20T19:36:15.498Z,1758396975.498 [DAT](INFO): Rx dataTimestamp_ set to:1758396975.497584 2025-09-20T19:36:15.500Z,1758396975.500 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:15.501Z,1758396975.501 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-09-20T19:36:15.502Z,1758396975.502 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.114971 2025-09-20T19:36:15.748Z,1758396975.748 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.361332 2025-09-20T19:36:15.829Z,1758396975.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:15.832Z,1758396975.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505411 s, deltaX: 0.200000 m, approachRate: 0.395717 m/s, rangeRepo size: 4 2025-09-20T19:36:15.833Z,1758396975.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:15.840Z,1758396975.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.753989 m, bearing: 207.719691 deg, approach rate: 0.015176 m/s, LOS rate: 0.451898 deg/s, cmd heading: 97.176154 deg, new cmd heading: 97.544989 deg. 2025-09-20T19:36:15.845Z,1758396975.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702481 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:16.001Z,1758396976.001 [DAT](INFO): DAT read: Rx Time:19:36:18.2924 2025-09-20T19:36:16.001Z,1758396976.001 [DAT](INFO): Rx dataTimestamp_ set to:1758396976.000943 2025-09-20T19:36:16.003Z,1758396976.003 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:16.004Z,1758396976.004 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-09-20T19:36:16.005Z,1758396976.005 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.618080 2025-09-20T19:36:16.252Z,1758396976.252 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.865463 2025-09-20T19:36:16.263Z,1758396976.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503359 s, deltaX: -0.300000 m, approachRate: -0.595996 m/s, rangeRepo size: 4 2025-09-20T19:36:16.264Z,1758396976.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:16.266Z,1758396976.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.752953 m, bearing: 207.869180 deg, approach rate: -0.002403 m/s, LOS rate: 0.346738 deg/s, cmd heading: 97.544991 deg, new cmd heading: 97.844141 deg. 2025-09-20T19:36:16.268Z,1758396976.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.707702 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:16.504Z,1758396976.504 [DAT](INFO): DAT read: Rx Time:19:36:18.7925 2025-09-20T19:36:16.505Z,1758396976.505 [DAT](INFO): Rx dataTimestamp_ set to:1758396976.504290 2025-09-20T19:36:16.506Z,1758396976.506 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:16.506Z,1758396976.506 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-09-20T19:36:16.507Z,1758396976.507 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.120693 2025-09-20T19:36:16.636Z,1758396976.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503347 s, deltaX: 0.100000 m, approachRate: 0.198670 m/s, rangeRepo size: 4 2025-09-20T19:36:16.637Z,1758396976.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:16.639Z,1758396976.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.751966 m, bearing: 208.011932 deg, approach rate: -0.002647 m/s, LOS rate: 0.383267 deg/s, cmd heading: 97.844140 deg, new cmd heading: 98.129803 deg. 2025-09-20T19:36:16.640Z,1758396976.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.712688 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:16.756Z,1758396976.756 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.369396 2025-09-20T19:36:17.008Z,1758396977.008 [DAT](INFO): DAT read: Rx Time:19:36:19.2925 2025-09-20T19:36:17.009Z,1758396977.009 [DAT](INFO): Rx dataTimestamp_ set to:1758396977.008447 2025-09-20T19:36:17.010Z,1758396977.010 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:17.010Z,1758396977.010 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-09-20T19:36:17.012Z,1758396977.012 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.624851 2025-09-20T19:36:17.090Z,1758396977.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504157 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:17.095Z,1758396977.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:17.098Z,1758396977.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.741834 m, bearing: 207.846517 deg, approach rate: -0.022295 m/s, LOS rate: -0.366100 deg/s, cmd heading: 98.129806 deg, new cmd heading: 97.797057 deg. 2025-09-20T19:36:17.099Z,1758396977.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706881 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:17.260Z,1758396977.260 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.873287 2025-09-20T19:36:17.443Z,1758396977.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:17.445Z,1758396977.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.732610 m, bearing: 207.692935 deg, approach rate: -0.026122 m/s, LOS rate: -0.437261 deg/s, cmd heading: 97.797060 deg, new cmd heading: 97.488262 deg. 2025-09-20T19:36:17.446Z,1758396977.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.701491 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:17.517Z,1758396977.517 [DAT](INFO): DAT read: Rx Time:19:36:19.7925 2025-09-20T19:36:17.517Z,1758396977.517 [DAT](INFO): Rx dataTimestamp_ set to:1758396977.516926 2025-09-20T19:36:17.518Z,1758396977.518 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:17.519Z,1758396977.519 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-09-20T19:36:17.520Z,1758396977.520 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.133480 2025-09-20T19:36:17.768Z,1758396977.768 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.381371 2025-09-20T19:36:17.882Z,1758396977.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:17.920Z,1758396977.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.508479 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:17.928Z,1758396977.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:17.955Z,1758396977.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.722639 m, bearing: 207.523520 deg, approach rate: -0.021424 m/s, LOS rate: -0.366096 deg/s, cmd heading: 97.488260 deg, new cmd heading: 97.147473 deg. 2025-09-20T19:36:17.956Z,1758396977.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.695543 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:18.021Z,1758396978.021 [DAT](INFO): DAT read: Rx Time:19:36:20.2924 2025-09-20T19:36:18.022Z,1758396978.022 [DAT](INFO): Rx dataTimestamp_ set to:1758396978.021372 2025-09-20T19:36:18.024Z,1758396978.024 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:18.025Z,1758396978.025 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-09-20T19:36:18.026Z,1758396978.026 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.639091 2025-09-20T19:36:18.272Z,1758396978.272 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.885422 2025-09-20T19:36:18.280Z,1758396978.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504446 s, deltaX: -0.100000 m, approachRate: -0.198238 m/s, rangeRepo size: 4 2025-09-20T19:36:18.281Z,1758396978.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:18.284Z,1758396978.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.707327 m, bearing: 207.493938 deg, approach rate: -0.041233 m/s, LOS rate: -0.080377 deg/s, cmd heading: 97.147474 deg, new cmd heading: 97.087781 deg. 2025-09-20T19:36:18.285Z,1758396978.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694501 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:18.524Z,1758396978.524 [DAT](INFO): DAT read: Rx Time:19:36:20.7925 2025-09-20T19:36:18.525Z,1758396978.525 [DAT](INFO): Rx dataTimestamp_ set to:1758396978.524403 2025-09-20T19:36:18.526Z,1758396978.526 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:18.526Z,1758396978.526 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-09-20T19:36:18.528Z,1758396978.528 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.140835 2025-09-20T19:36:18.660Z,1758396978.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503031 s, deltaX: 0.100000 m, approachRate: 0.198795 m/s, rangeRepo size: 4 2025-09-20T19:36:18.661Z,1758396978.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:18.664Z,1758396978.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.693344 m, bearing: 207.466454 deg, approach rate: -0.036819 m/s, LOS rate: -0.072964 deg/s, cmd heading: 97.087779 deg, new cmd heading: 97.032356 deg. 2025-09-20T19:36:18.664Z,1758396978.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.693534 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:18.777Z,1758396978.777 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.389908 2025-09-20T19:36:19.028Z,1758396979.028 [DAT](INFO): DAT read: Rx Time:19:36:21.2924 2025-09-20T19:36:19.029Z,1758396979.029 [DAT](INFO): Rx dataTimestamp_ set to:1758396979.028548 2025-09-20T19:36:19.030Z,1758396979.030 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:19.031Z,1758396979.031 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-09-20T19:36:19.032Z,1758396979.032 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.644924 2025-09-20T19:36:19.120Z,1758396979.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504145 s, deltaX: -0.100000 m, approachRate: -0.198356 m/s, rangeRepo size: 4 2025-09-20T19:36:19.121Z,1758396979.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:19.128Z,1758396979.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.678368 m, bearing: 207.172342 deg, approach rate: -0.032824 m/s, LOS rate: -0.650380 deg/s, cmd heading: 97.032358 deg, new cmd heading: 96.438911 deg. 2025-09-20T19:36:19.129Z,1758396979.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683177 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:19.281Z,1758396979.281 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.893749 2025-09-20T19:36:19.459Z,1758396979.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:19.462Z,1758396979.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.666492 m, bearing: 206.932717 deg, approach rate: -0.034550 m/s, LOS rate: -0.702101 deg/s, cmd heading: 96.438911 deg, new cmd heading: 95.956258 deg. 2025-09-20T19:36:19.463Z,1758396979.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674753 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:19.533Z,1758396979.533 [DAT](INFO): DAT read: Rx Time:19:36:21.7925 2025-09-20T19:36:19.534Z,1758396979.534 [DAT](INFO): Rx dataTimestamp_ set to:1758396979.533425 2025-09-20T19:36:19.536Z,1758396979.536 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:19.537Z,1758396979.537 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-09-20T19:36:19.538Z,1758396979.538 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.151134 2025-09-20T19:36:19.785Z,1758396979.785 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.397919 2025-09-20T19:36:19.887Z,1758396979.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:19.892Z,1758396979.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504877 s, deltaX: 0.100000 m, approachRate: 0.198068 m/s, rangeRepo size: 4 2025-09-20T19:36:19.894Z,1758396979.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:19.896Z,1758396979.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.652877 m, bearing: 206.651553 deg, approach rate: -0.031576 m/s, LOS rate: -0.657421 deg/s, cmd heading: 95.956255 deg, new cmd heading: 95.389315 deg. 2025-09-20T19:36:19.897Z,1758396979.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664858 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:19.962Z,1758396979.962 [DockingStepper](INFO): Changing to mode: 1 2025-09-20T19:36:20.038Z,1758396980.038 [DAT](INFO): DAT read: Rx Time:19:36:22.2924 2025-09-20T19:36:20.038Z,1758396980.038 [DAT](INFO): Rx dataTimestamp_ set to:1758396980.037709 2025-09-20T19:36:20.039Z,1758396980.039 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:20.040Z,1758396980.040 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-09-20T19:36:20.041Z,1758396980.041 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.654186 2025-09-20T19:36:20.288Z,1758396980.288 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.901363 2025-09-20T19:36:20.301Z,1758396980.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504284 s, deltaX: -0.100000 m, approachRate: -0.198301 m/s, rangeRepo size: 4 2025-09-20T19:36:20.302Z,1758396980.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:20.305Z,1758396980.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.636100 m, bearing: 206.401966 deg, approach rate: -0.040889 m/s, LOS rate: -0.614534 deg/s, cmd heading: 95.389315 deg, new cmd heading: 94.885038 deg. 2025-09-20T19:36:20.306Z,1758396980.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656056 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:20.540Z,1758396980.540 [DAT](INFO): DAT read: Rx Time:19:36:22.7926 2025-09-20T19:36:20.541Z,1758396980.541 [DAT](INFO): Rx dataTimestamp_ set to:1758396980.540266 2025-09-20T19:36:20.542Z,1758396980.542 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:20.542Z,1758396980.542 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-09-20T19:36:20.543Z,1758396980.543 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.156681 2025-09-20T19:36:20.680Z,1758396980.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.502557 s, deltaX: 0.300000 m, approachRate: 0.596947 m/s, rangeRepo size: 4 2025-09-20T19:36:20.681Z,1758396980.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:20.684Z,1758396980.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.621488 m, bearing: 206.178556 deg, approach rate: -0.038631 m/s, LOS rate: -0.595940 deg/s, cmd heading: 94.885036 deg, new cmd heading: 94.434198 deg. 2025-09-20T19:36:20.684Z,1758396980.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648188 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:20.793Z,1758396980.793 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.406178 2025-09-20T19:36:21.044Z,1758396981.044 [DAT](INFO): DAT read: Rx Time:19:36:23.2925 2025-09-20T19:36:21.045Z,1758396981.045 [DAT](INFO): Rx dataTimestamp_ set to:1758396981.044386 2025-09-20T19:36:21.046Z,1758396981.046 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:21.046Z,1758396981.046 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-09-20T19:36:21.047Z,1758396981.047 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.660805 2025-09-20T19:36:21.178Z,1758396981.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504120 s, deltaX: -0.200000 m, approachRate: -0.396731 m/s, rangeRepo size: 4 2025-09-20T19:36:21.183Z,1758396981.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:21.186Z,1758396981.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.611487 m, bearing: 206.023838 deg, approach rate: -0.020052 m/s, LOS rate: -0.312150 deg/s, cmd heading: 94.434195 deg, new cmd heading: 94.122842 deg. 2025-09-20T19:36:21.191Z,1758396981.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642753 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:21.298Z,1758396981.298 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.911610 2025-09-20T19:36:21.472Z,1758396981.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:21.475Z,1758396981.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.605294 m, bearing: 205.926951 deg, approach rate: -0.021035 m/s, LOS rate: -0.330357 deg/s, cmd heading: 94.122841 deg, new cmd heading: 93.928321 deg. 2025-09-20T19:36:21.476Z,1758396981.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639359 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:21.548Z,1758396981.548 [DAT](INFO): DAT read: Rx Time:19:36:23.7925 2025-09-20T19:36:21.549Z,1758396981.549 [DAT](INFO): Rx dataTimestamp_ set to:1758396981.548571 2025-09-20T19:36:21.550Z,1758396981.550 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:21.551Z,1758396981.551 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-09-20T19:36:21.552Z,1758396981.552 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.165123 2025-09-20T19:36:21.800Z,1758396981.800 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.413692 2025-09-20T19:36:21.912Z,1758396981.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:21.918Z,1758396981.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504185 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:21.921Z,1758396981.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:21.924Z,1758396981.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.596284 m, bearing: 205.784775 deg, approach rate: -0.020369 m/s, LOS rate: -0.323205 deg/s, cmd heading: 93.928324 deg, new cmd heading: 93.642369 deg. 2025-09-20T19:36:21.925Z,1758396981.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634368 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:22.054Z,1758396982.054 [DAT](INFO): DAT read: Rx Time:19:36:24.2924 2025-09-20T19:36:22.055Z,1758396982.055 [DAT](INFO): Rx dataTimestamp_ set to:1758396982.054363 2025-09-20T19:36:22.057Z,1758396982.057 [DAT](INFO): DAT read: Bearing 350.4, -0.1 (Local) 2025-09-20T19:36:22.057Z,1758396982.057 [DAT](INFO): Local bearing/azimuth received: Bearing 350.4, -0.1 (Local) 2025-09-20T19:36:22.061Z,1758396982.061 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:22.065Z,1758396982.065 [DAT](INFO): DAT read: 19:36:24.2924 LVL= 15664, 16081, 18914, 20627, AGC= 49, IDX= 502,-0.10, 2.216, 0.806, 2.480,-2.935, PHS=-1.030,-2.497,-0.912, RAW= 153.8, 45.7, CAL= 157.0, 55.1, ROT= 353.0, -55.1 2025-09-20T19:36:22.066Z,1758396982.066 [DAT](INFO): got valid direction response: 19:36:24.2924 LVL= 15664, 16081, 18914, 20627, AGC= 49, IDX= 502,-0.10, 2.216, 0.806, 2.480,-2.935, PHS=-1.030,-2.497,-0.912, RAW= 153.8, 45.7, CAL= 157.0, 55.1, ROT= 353.0, -55.1 2025-09-20T19:36:22.067Z,1758396982.067 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-09-20T19:36:22.089Z,1758396982.089 [DAT](INFO): direction in FSK: [0.567881,-0.069727,0.820152] 2025-09-20T19:36:22.089Z,1758396982.089 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:22.106Z,1758396982.106 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.719418 2025-09-20T19:36:22.304Z,1758396982.304 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.917442 2025-09-20T19:36:22.397Z,1758396982.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.505792 s, deltaX: -0.100000 m, approachRate: -0.197710 m/s, rangeRepo size: 4 2025-09-20T19:36:22.404Z,1758396982.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783246 m, bearing: 135.338049 deg, lat: 36.779280 deg, lon: -121.859565 deg, deltaT: 75.125467 s, deltaX: -6.073477 m, approachRate: -0.080844 m/s, posRepo size: 4 2025-09-20T19:36:22.405Z,1758396982.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:36:22.412Z,1758396982.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.590872 m, bearing: 205.491999 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 93.642372 deg, new cmd heading: 92.568380 deg. 2025-09-20T19:36:22.413Z,1758396982.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615623 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:22.558Z,1758396982.558 [DAT](INFO): DAT read: Rx Time:19:36:24.7925 2025-09-20T19:36:22.558Z,1758396982.558 [DAT](INFO): Rx dataTimestamp_ set to:1758396982.557881 2025-09-20T19:36:22.560Z,1758396982.560 [DAT](INFO): DAT read: Bearing 352.6, -0.0 (Local) 2025-09-20T19:36:22.561Z,1758396982.561 [DAT](INFO): Local bearing/azimuth received: Bearing 352.6, -0.0 (Local) 2025-09-20T19:36:22.563Z,1758396982.563 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:22.572Z,1758396982.572 [DAT](INFO): DAT read: 19:36:24.7925 LVL= 19264, 17457, 19874, 21443, AGC= 49, IDX= 503,-0.02,-2.034, 3.017,-1.790,-0.902, PHS=-1.029,-2.319,-0.932, RAW= 153.6, 48.4, CAL= 156.7, 57.3, ROT= 353.3, -57.3 2025-09-20T19:36:22.573Z,1758396982.573 [DAT](INFO): got valid direction response: 19:36:24.7925 LVL= 19264, 17457, 19874, 21443, AGC= 49, IDX= 503,-0.02,-2.034, 3.017,-1.790,-0.902, PHS=-1.029,-2.319,-0.932, RAW= 153.6, 48.4, CAL= 156.7, 57.3, ROT= 353.3, -57.3 2025-09-20T19:36:22.573Z,1758396982.573 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-09-20T19:36:22.574Z,1758396982.574 [DAT](INFO): direction in FSK: [0.536551,-0.063030,0.841511] 2025-09-20T19:36:22.574Z,1758396982.574 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:22.578Z,1758396982.578 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.191463 2025-09-20T19:36:22.708Z,1758396982.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503518 s, deltaX: 0.100000 m, approachRate: 0.198603 m/s, rangeRepo size: 4 2025-09-20T19:36:22.710Z,1758396982.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882804 m, bearing: 135.918906 deg, lat: 36.779280 deg, lon: -121.859564 deg, deltaT: 75.628985 s, deltaX: -5.973919 m, approachRate: -0.078990 m/s, posRepo size: 4 2025-09-20T19:36:22.717Z,1758396982.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:22.725Z,1758396982.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.585843 m, bearing: 205.218111 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 92.568379 deg, new cmd heading: 91.876662 deg. 2025-09-20T19:36:22.726Z,1758396982.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603550 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:22.813Z,1758396982.813 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.425999 2025-09-20T19:36:23.065Z,1758396983.065 [DAT](INFO): DAT read: Rx Time:19:36:25.2924 2025-09-20T19:36:23.065Z,1758396983.065 [DAT](INFO): Rx dataTimestamp_ set to:1758396983.064805 2025-09-20T19:36:23.066Z,1758396983.066 [DAT](INFO): DAT read: Bearing 355.4, -4.0 (Local) 2025-09-20T19:36:23.067Z,1758396983.067 [DAT](INFO): Local bearing/azimuth received: Bearing 355.4, -4.0 (Local) 2025-09-20T19:36:23.069Z,1758396983.069 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:23.074Z,1758396983.074 [DAT](INFO): DAT read: 19:36:25.2924 LVL= 14736, 14545, 18114, 19699, AGC= 49, IDX= 502, 0.10,-2.400, 2.982,-1.979,-1.218, PHS=-1.080,-2.038,-0.805, RAW= 162.3, 51.0, CAL= 164.0, 59.4, ROT= 346.0, -59.4 2025-09-20T19:36:23.075Z,1758396983.075 [DAT](INFO): got valid direction response: 19:36:25.2924 LVL= 14736, 14545, 18114, 19699, AGC= 49, IDX= 502, 0.10,-2.400, 2.982,-1.979,-1.218, PHS=-1.080,-2.038,-0.805, RAW= 162.3, 51.0, CAL= 164.0, 59.4, ROT= 346.0, -59.4 2025-09-20T19:36:23.075Z,1758396983.075 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-09-20T19:36:23.076Z,1758396983.076 [DAT](INFO): direction in FSK: [0.493921,-0.123148,0.860742] 2025-09-20T19:36:23.076Z,1758396983.076 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:23.080Z,1758396983.080 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.693295 2025-09-20T19:36:23.192Z,1758396983.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.506924 s, deltaX: -0.100000 m, approachRate: -0.197269 m/s, rangeRepo size: 4 2025-09-20T19:36:23.194Z,1758396983.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783245 m, bearing: 128.695912 deg, lat: 36.779280 deg, lon: -121.859564 deg, deltaT: 76.135909 s, deltaX: -6.073478 m, approachRate: -0.079772 m/s, posRepo size: 4 2025-09-20T19:36:23.199Z,1758396983.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.86 m. 2025-09-20T19:36:23.202Z,1758396983.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.581851 m, bearing: 204.864335 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 91.876658 deg, new cmd heading: 90.809511 deg. 2025-09-20T19:36:23.207Z,1758396983.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.584925 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:23.316Z,1758396983.316 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.929741 2025-09-20T19:36:23.496Z,1758396983.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m. 2025-09-20T19:36:23.498Z,1758396983.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.579144 m, bearing: 204.622352 deg, approach rate: -0.008783 m/s, LOS rate: -0.786696 deg/s, cmd heading: 90.809510 deg, new cmd heading: 90.324726 deg. 2025-09-20T19:36:23.500Z,1758396983.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576464 target range: 9.856723 and range: 3.80 m. 2025-09-20T19:36:23.570Z,1758396983.570 [DAT](INFO): DAT read: Rx Time:19:36:25.7925 2025-09-20T19:36:23.570Z,1758396983.570 [DAT](INFO): Rx dataTimestamp_ set to:1758396983.569841 2025-09-20T19:36:23.572Z,1758396983.572 [DAT](INFO): DAT read: Bearing 358.0, -1.8 (Local) 2025-09-20T19:36:23.573Z,1758396983.573 [DAT](INFO): Local bearing/azimuth received: Bearing 358.0, -1.8 (Local) 2025-09-20T19:36:23.576Z,1758396983.576 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:23.580Z,1758396983.580 [DAT](INFO): DAT read: 19:36:25.7925 LVL= 19952, 18193, 17762, 26515, AGC= 49, IDX= 503, 0.13,-0.547,-1.402,-0.266, 0.626, PHS=-1.072,-1.983,-0.936, RAW= 156.8, 55.1, CAL= 159.1, 62.5, ROT= 350.9, -62.5 2025-09-20T19:36:23.581Z,1758396983.581 [DAT](INFO): got valid direction response: 19:36:25.7925 LVL= 19952, 18193, 17762, 26515, AGC= 49, IDX= 503, 0.13,-0.547,-1.402,-0.266, 0.626, PHS=-1.072,-1.983,-0.936, RAW= 156.8, 55.1, CAL= 159.1, 62.5, ROT= 350.9, -62.5 2025-09-20T19:36:23.582Z,1758396983.582 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-09-20T19:36:23.583Z,1758396983.583 [DAT](INFO): direction in FSK: [0.455937,-0.073029,0.887011] 2025-09-20T19:36:23.583Z,1758396983.583 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:23.586Z,1758396983.586 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.199829 2025-09-20T19:36:23.820Z,1758396983.820 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.433357 2025-09-20T19:36:23.931Z,1758396983.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.505036 s, deltaX: 0.100000 m, approachRate: 0.198006 m/s, rangeRepo size: 4 2025-09-20T19:36:23.933Z,1758396983.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882803 m, bearing: 134.659641 deg, lat: 36.779280 deg, lon: -121.859564 deg, deltaT: 76.640945 s, deltaX: -5.973920 m, approachRate: -0.077947 m/s, posRepo size: 4 2025-09-20T19:36:23.935Z,1758396983.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:23.937Z,1758396983.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.575609 m, bearing: 204.303243 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 90.324723 deg, new cmd heading: 89.355865 deg. 2025-09-20T19:36:23.938Z,1758396983.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559554 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:24.073Z,1758396984.073 [DAT](INFO): DAT read: Rx Time:19:36:26.2925 2025-09-20T19:36:24.073Z,1758396984.073 [DAT](INFO): Rx dataTimestamp_ set to:1758396984.072855 2025-09-20T19:36:24.074Z,1758396984.074 [DAT](INFO): DAT read: Bearing 5.2, -2.3 (Local) 2025-09-20T19:36:24.075Z,1758396984.075 [DAT](INFO): Local bearing/azimuth received: Bearing 5.2, -2.3 (Local) 2025-09-20T19:36:24.077Z,1758396984.077 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:24.082Z,1758396984.082 [DAT](INFO): DAT read: 19:36:26.2925 LVL= 15760, 11505, 14082, 21523, AGC= 47, IDX= 502, 0.18,-0.359,-0.878,-0.076, 0.870, PHS=-1.127,-1.703,-0.991, RAW= 160.4, 64.1, CAL= 161.8, 69.7, ROT= 348.2, -69.7 2025-09-20T19:36:24.083Z,1758396984.083 [DAT](INFO): got valid direction response: 19:36:26.2925 LVL= 15760, 11505, 14082, 21523, AGC= 47, IDX= 502, 0.18,-0.359,-0.878,-0.076, 0.870, PHS=-1.127,-1.703,-0.991, RAW= 160.4, 64.1, CAL= 161.8, 69.7, ROT= 348.2, -69.7 2025-09-20T19:36:24.083Z,1758396984.083 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-09-20T19:36:24.084Z,1758396984.084 [DAT](INFO): direction in FSK: [0.339604,-0.070947,0.937889] 2025-09-20T19:36:24.084Z,1758396984.084 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:24.104Z,1758396984.104 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.717583 2025-09-20T19:36:24.325Z,1758396984.325 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.937908 2025-09-20T19:36:24.416Z,1758396984.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503014 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-09-20T19:36:24.418Z,1758396984.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882803 m, bearing: 130.314863 deg, lat: 36.779282 deg, lon: -121.859564 deg, deltaT: 77.143959 s, deltaX: -5.973920 m, approachRate: -0.077439 m/s, posRepo size: 4 2025-09-20T19:36:24.420Z,1758396984.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:24.422Z,1758396984.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.579732 m, bearing: 203.999424 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 89.355868 deg, new cmd heading: 88.276004 deg. 2025-09-20T19:36:24.424Z,1758396984.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540707 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:24.577Z,1758396984.577 [DAT](INFO): DAT read: Rx Time:19:36:26.7926 2025-09-20T19:36:24.577Z,1758396984.577 [DAT](INFO): Rx dataTimestamp_ set to:1758396984.576966 2025-09-20T19:36:24.579Z,1758396984.579 [DAT](INFO): DAT read: Bearing 359.9, -0.6 (Local) 2025-09-20T19:36:24.579Z,1758396984.579 [DAT](INFO): Local bearing/azimuth received: Bearing 359.9, -0.6 (Local) 2025-09-20T19:36:24.581Z,1758396984.581 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:24.594Z,1758396984.594 [DAT](INFO): DAT read: 19:36:26.7926 LVL= 13424, 16033, 16530, 20739, AGC= 49, IDX= 504,-0.30, 1.958, 1.209, 2.158, 3.061, PHS=-1.001,-1.807,-0.947, RAW= 153.2, 57.9, CAL= 155.7, 64.7, ROT= 354.3, -64.7 2025-09-20T19:36:24.595Z,1758396984.595 [DAT](INFO): got valid direction response: 19:36:26.7926 LVL= 13424, 16033, 16530, 20739, AGC= 49, IDX= 504,-0.30, 1.958, 1.209, 2.158, 3.061, PHS=-1.001,-1.807,-0.947, RAW= 153.2, 57.9, CAL= 155.7, 64.7, ROT= 354.3, -64.7 2025-09-20T19:36:24.596Z,1758396984.596 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-09-20T19:36:24.597Z,1758396984.597 [DAT](INFO): direction in FSK: [0.425245,-0.042445,0.904083] 2025-09-20T19:36:24.597Z,1758396984.597 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:24.613Z,1758396984.613 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.225922 2025-09-20T19:36:24.768Z,1758396984.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504111 s, deltaX: 0.200000 m, approachRate: 0.396738 m/s, rangeRepo size: 4 2025-09-20T19:36:24.770Z,1758396984.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.081922 m, bearing: 137.000805 deg, lat: 36.779282 deg, lon: -121.859566 deg, deltaT: 77.648070 s, deltaX: -5.774801 m, approachRate: -0.074371 m/s, posRepo size: 4 2025-09-20T19:36:24.775Z,1758396984.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 4.10 m. 2025-09-20T19:36:24.775Z,1758396984.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present. 2025-09-20T19:36:24.776Z,1758396984.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.86 m. 2025-09-20T19:36:24.788Z,1758396984.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.582553 m, bearing: 203.791646 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 88.276001 deg, new cmd heading: 87.502868 deg. 2025-09-20T19:36:24.790Z,1758396984.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.527213 target range: 9.856723 and range: 4.10 m. 2025-09-20T19:36:24.828Z,1758396984.828 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.441368 2025-09-20T19:36:25.081Z,1758396985.081 [DAT](INFO): DAT read: Rx Time:19:36:27.2925 2025-09-20T19:36:25.081Z,1758396985.081 [DAT](INFO): Rx dataTimestamp_ set to:1758396985.080770 2025-09-20T19:36:25.082Z,1758396985.082 [DAT](INFO): DAT read: Bearing 5.1, -1.3 (Local) 2025-09-20T19:36:25.083Z,1758396985.083 [DAT](INFO): Local bearing/azimuth received: Bearing 5.1, -1.3 (Local) 2025-09-20T19:36:25.085Z,1758396985.085 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:25.089Z,1758396985.089 [DAT](INFO): DAT read: 19:36:27.2925 LVL= 15120, 18817, 18498, 22179, AGC= 49, IDX= 503,-0.20, 1.578, 1.067, 1.825, 2.746, PHS=-1.066,-1.634,-0.965, RAW= 158.1, 64.3, CAL= 159.7, 69.8, ROT= 350.3, -69.8 2025-09-20T19:36:25.090Z,1758396985.090 [DAT](INFO): got valid direction response: 19:36:27.2925 LVL= 15120, 18817, 18498, 22179, AGC= 49, IDX= 503,-0.20, 1.578, 1.067, 1.825, 2.746, PHS=-1.066,-1.634,-0.965, RAW= 158.1, 64.3, CAL= 159.7, 69.8, ROT= 350.3, -69.8 2025-09-20T19:36:25.091Z,1758396985.091 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-09-20T19:36:25.092Z,1758396985.092 [DAT](INFO): direction in FSK: [0.340362,-0.058179,0.938493] 2025-09-20T19:36:25.092Z,1758396985.092 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:25.096Z,1758396985.096 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.709148 2025-09-20T19:36:25.242Z,1758396985.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503804 s, deltaX: -0.200000 m, approachRate: -0.396979 m/s, rangeRepo size: 4 2025-09-20T19:36:25.249Z,1758396985.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.882804 m, bearing: 130.555092 deg, lat: 36.779282 deg, lon: -121.859567 deg, deltaT: 78.151874 s, deltaX: -5.973919 m, approachRate: -0.076440 m/s, posRepo size: 4 2025-09-20T19:36:25.250Z,1758396985.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m. 2025-09-20T19:36:25.257Z,1758396985.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.856723 m, nav range: 1.586543 m, bearing: 203.759385 deg, approach rate: 0.000000 m/s, LOS rate: -1.112902 deg/s, cmd heading: 87.502872 deg, new cmd heading: 86.437627 deg. 2025-09-20T19:36:25.258Z,1758396985.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508621 target range: 9.856723 and range: 3.90 m. 2025-09-20T19:36:25.332Z,1758396985.332 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.945545 2025-09-20T19:36:25.562Z,1758396985.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:25.565Z,1758396985.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 3.90 m. Lat: 36.779280 Lon: -121.859587 Cable present. Reached intercept timeout. 2025-09-20T19:36:25.565Z,1758396985.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-09-20T19:36:25.565Z,1758396985.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-09-20T19:36:25.566Z,1758396985.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2025-09-20T19:36:25.585Z,1758396985.585 [DAT](INFO): DAT read: Rx Time:19:36:27.7925 2025-09-20T19:36:25.585Z,1758396985.585 [DAT](INFO): Rx dataTimestamp_ set to:1758396985.584722 2025-09-20T19:36:25.586Z,1758396985.586 [DAT](INFO): DAT read: Bearing 6.8, 1.6 (Local) 2025-09-20T19:36:25.587Z,1758396985.587 [DAT](INFO): Local bearing/azimuth received: Bearing 6.8, 1.6 (Local) 2025-09-20T19:36:25.589Z,1758396985.589 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:25.593Z,1758396985.593 [DAT](INFO): DAT read: 19:36:27.7925 LVL= 15024, 16369, 17650, 22515, AGC= 49, IDX= 503,-0.11, 1.813, 1.319, 1.961, 2.961, PHS=-1.046,-1.597,-1.044, RAW= 150.2, 67.1, CAL= 152.3, 71.9, ROT= 357.7, -71.9 2025-09-20T19:36:25.594Z,1758396985.594 [DAT](INFO): got valid direction response: 19:36:27.7925 LVL= 15024, 16369, 17650, 22515, AGC= 49, IDX= 503,-0.11, 1.813, 1.319, 1.961, 2.961, PHS=-1.046,-1.597,-1.044, RAW= 150.2, 67.1, CAL= 152.3, 71.9, ROT= 357.7, -71.9 2025-09-20T19:36:25.595Z,1758396985.595 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-09-20T19:36:25.596Z,1758396985.596 [DAT](INFO): direction in FSK: [0.310426,-0.012468,0.950516] 2025-09-20T19:36:25.596Z,1758396985.596 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:25.600Z,1758396985.600 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.213409 2025-09-20T19:36:25.838Z,1758396985.838 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.450817 2025-09-20T19:36:25.975Z,1758396985.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete. 2025-09-20T19:36:25.975Z,1758396985.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2025-09-20T19:36:25.975Z,1758396985.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1 2025-09-20T19:36:26.090Z,1758396986.090 [DAT](INFO): DAT read: Rx Time:19:36:28.2924 2025-09-20T19:36:26.090Z,1758396986.090 [DAT](INFO): Rx dataTimestamp_ set to:1758396986.090079 2025-09-20T19:36:26.092Z,1758396986.092 [DAT](INFO): DAT read: Bearing 15.1, -1.1 (Local) 2025-09-20T19:36:26.092Z,1758396986.092 [DAT](INFO): Local bearing/azimuth received: Bearing 15.1, -1.1 (Local) 2025-09-20T19:36:26.094Z,1758396986.094 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:26.100Z,1758396986.100 [DAT](INFO): DAT read: 19:36:28.2924 LVL= 15600, 15345, 15154, 20835, AGC= 49, IDX= 502,-0.08, 2.032, 1.866, 2.301,-2.942, PHS=-1.207,-1.431,-1.084, RAW= 170.6, 77.0, CAL= 170.8, 79.8, ROT= 339.2, -79.8 2025-09-20T19:36:26.101Z,1758396986.101 [DAT](INFO): got valid direction response: 19:36:28.2924 LVL= 15600, 15345, 15154, 20835, AGC= 49, IDX= 502,-0.08, 2.032, 1.866, 2.301,-2.942, PHS=-1.207,-1.431,-1.084, RAW= 170.6, 77.0, CAL= 170.8, 79.8, ROT= 339.2, -79.8 2025-09-20T19:36:26.101Z,1758396986.101 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-09-20T19:36:26.102Z,1758396986.102 [DAT](INFO): direction in FSK: [0.165543,-0.062884,0.984196] 2025-09-20T19:36:26.102Z,1758396986.102 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:26.106Z,1758396986.106 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.719276 2025-09-20T19:36:26.342Z,1758396986.342 [DAT](INFO): DAT read: Rx Time:19:36:28.7925 2025-09-20T19:36:26.344Z,1758396986.344 [DAT](INFO): Rx dataTimestamp_ set to:1758396986.343487 2025-09-20T19:36:26.347Z,1758396986.347 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.959404 2025-09-20T19:36:26.457Z,1758396986.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-09-20T19:36:26.458Z,1758396986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-09-20T19:36:26.459Z,1758396986.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-09-20T19:36:26.593Z,1758396986.593 [DAT](INFO): DAT read: Bearing 19.9, -8.0 (Local) 2025-09-20T19:36:26.593Z,1758396986.593 [DAT](INFO): Local bearing/azimuth received: Bearing 19.9, -8.0 (Local) 2025-09-20T19:36:26.595Z,1758396986.595 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:26.600Z,1758396986.600 [DAT](INFO): DAT read: 19:36:28.7925 LVL= 13872, 18001, 15650, 22483, AGC= 51, IDX= 503, 0.06,-2.289,-2.176,-1.780,-0.801, PHS=-1.385,-1.330,-1.022, RAW= 218.2, 75.6, CAL= 218.0, 78.5, ROT= 292.0, -78.5 2025-09-20T19:36:26.601Z,1758396986.601 [DAT](INFO): got valid direction response: 19:36:28.7925 LVL= 13872, 18001, 15650, 22483, AGC= 51, IDX= 503, 0.06,-2.289,-2.176,-1.780,-0.801, PHS=-1.385,-1.330,-1.022, RAW= 218.2, 75.6, CAL= 218.0, 78.5, ROT= 292.0, -78.5 2025-09-20T19:36:26.601Z,1758396986.601 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-09-20T19:36:26.602Z,1758396986.602 [DAT](INFO): direction in FSK: [0.074685,-0.184851,0.979925] 2025-09-20T19:36:26.602Z,1758396986.602 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:26.618Z,1758396986.618 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.231258 2025-09-20T19:36:26.779Z,1758396986.779 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-09-20T19:36:26.779Z,1758396986.779 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-09-20T19:36:26.779Z,1758396986.779 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-09-20T19:36:26.779Z,1758396986.779 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-09-20T19:36:26.780Z,1758396986.780 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2025-09-20T19:36:26.780Z,1758396986.780 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-09-20T19:36:26.781Z,1758396986.781 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings. 2025-09-20T19:36:26.781Z,1758396986.781 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2025-09-20T19:36:26.781Z,1758396986.781 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1 2025-09-20T19:36:26.788Z,1758396986.788 [lineCaptureHoming:LineCapture:HomingSequence] Stopped 2025-09-20T19:36:26.788Z,1758396986.788 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence 2025-09-20T19:36:26.788Z,1758396986.788 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped 2025-09-20T19:36:26.789Z,1758396986.789 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-09-20T19:36:26.789Z,1758396986.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-09-20T19:36:26.789Z,1758396986.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-09-20T19:36:26.789Z,1758396986.789 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1 2025-09-20T19:36:26.789Z,1758396986.789 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component. 2025-09-20T19:36:26.848Z,1758396986.848 [DAT](INFO): DAT read: Rx Time:19:36:29.2924 2025-09-20T19:36:26.850Z,1758396986.850 [DAT](INFO): Rx dataTimestamp_ set to:1758396986.849169 2025-09-20T19:36:26.854Z,1758396986.854 [DAT](INFO): DAT read: Bearing 23.8, -10.4 (Local) 2025-09-20T19:36:26.855Z,1758396986.855 [DAT](INFO): Local bearing/azimuth received: Bearing 23.8, -10.4 (Local) 2025-09-20T19:36:26.857Z,1758396986.857 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.470177 2025-09-20T19:36:27.097Z,1758396987.097 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:27.102Z,1758396987.102 [DAT](INFO): DAT read: 19:36:29.2924 LVL= 13552, 18865, 15970, 22979, AGC= 51, IDX= 502, 0.18, 2.838, 3.108,-2.857,-1.858, PHS=-1.486,-1.273,-1.043, RAW= 238.8, 74.1, CAL= 239.9, 76.8, ROT= 270.1, -76.8 2025-09-20T19:36:27.103Z,1758396987.103 [DAT](INFO): got valid direction response: 19:36:29.2924 LVL= 13552, 18865, 15970, 22979, AGC= 51, IDX= 502, 0.18, 2.838, 3.108,-2.857,-1.858, PHS=-1.486,-1.273,-1.043, RAW= 238.8, 74.1, CAL= 239.9, 76.8, ROT= 270.1, -76.8 2025-09-20T19:36:27.104Z,1758396987.104 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-09-20T19:36:27.105Z,1758396987.105 [DAT](INFO): direction in FSK: [0.000399,-0.228350,0.973579] 2025-09-20T19:36:27.105Z,1758396987.105 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:27.108Z,1758396987.108 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.721794 2025-09-20T19:36:27.244Z,1758396987.244 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped 2025-09-20T19:36:27.244Z,1758396987.244 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1 2025-09-20T19:36:27.354Z,1758396987.354 [DAT](INFO): DAT read: Rx Time:19:36:29.7926 2025-09-20T19:36:27.356Z,1758396987.356 [DAT](INFO): Rx dataTimestamp_ set to:1758396987.354656 2025-09-20T19:36:27.358Z,1758396987.358 [DAT](INFO): DAT read: Bearing 17.2, -2.3 (Local) 2025-09-20T19:36:27.360Z,1758396987.360 [DAT](INFO): Local bearing/azimuth received: Bearing 17.2, -2.3 (Local) 2025-09-20T19:36:27.365Z,1758396987.365 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:27.373Z,1758396987.373 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-09-20T19:36:27.380Z,1758396987.380 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.992802 2025-09-20T19:36:27.585Z,1758396987.585 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2025-09-20T19:36:27.585Z,1758396987.585 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-09-20T19:36:27.585Z,1758396987.585 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped 2025-09-20T19:36:27.586Z,1758396987.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:27.605Z,1758396987.605 [DAT](INFO): DAT read: 19:36:29.7926 LVL= 13936, 19473, 15458, 22899, AGC= 51, IDX= 504,-0.50, 0.982, 0.944, 1.313, 2.400, PHS=-1.316,-1.412,-1.132, RAW= 190.5, 79.8, CAL= 190.1, 81.9, ROT= 319.9, -81.9 2025-09-20T19:36:27.606Z,1758396987.606 [DAT](INFO): got valid direction response: 19:36:29.7926 LVL= 13936, 19473, 15458, 22899, AGC= 51, IDX= 504,-0.50, 0.982, 0.944, 1.313, 2.400, PHS=-1.316,-1.412,-1.132, RAW= 190.5, 79.8, CAL= 190.1, 81.9, ROT= 319.9, -81.9 2025-09-20T19:36:27.606Z,1758396987.606 [DAT](INFO): #Rx 119: Read direction message, but no range. 2025-09-20T19:36:27.607Z,1758396987.607 [DAT](INFO): direction in FSK: [0.107778,-0.090758,0.990024] 2025-09-20T19:36:27.612Z,1758396987.612 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.225006 2025-09-20T19:36:27.856Z,1758396987.856 [DAT](INFO): DAT read: Rx Time:19:36:30.2925 2025-09-20T19:36:27.857Z,1758396987.857 [DAT](INFO): Rx dataTimestamp_ set to:1758396987.856273 2025-09-20T19:36:27.860Z,1758396987.860 [DAT](INFO): DAT read: Bearing 16.7, -1.9 (Local) 2025-09-20T19:36:27.861Z,1758396987.861 [DAT](INFO): Local bearing/azimuth received: Bearing 16.7, -1.9 (Local) 2025-09-20T19:36:27.866Z,1758396987.866 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:27.869Z,1758396987.869 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-09-20T19:36:27.873Z,1758396987.873 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:36:27.874Z,1758396987.874 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:36:27.876Z,1758396987.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:28.108Z,1758396988.108 [DAT](INFO): DAT read: 19:36:30.2925 LVL= 13968, 19361, 14418, 23603, AGC= 51, IDX= 503,-0.30,-0.722,-0.6,-.405, 0.696, PHS=-1.316,-1.420,-1.145, RAW= 188.1, 80.1, CAL= 187.8, 82.2, ROT= 322.2, -82.2 2025-09-20T19:36:28.109Z,1758396988.109 [DAT](INFO): got valid direction response: 19:36:30.2925 LVL= 13968, 19361, 14418, 23603, AGC= 51, IDX= 503,-0.30,-0.722,-0.6,-.405, 0.696, PHS=-1.316,-1.420,-1.145, RAW= 188.1, 80.1, CAL= 187.8, 82.2, ROT= 322.2, -82.2 2025-09-20T19:36:28.109Z,1758396988.109 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-09-20T19:36:28.110Z,1758396988.110 [DAT](INFO): direction in FSK: [0.107236,-0.083181,0.990748] 2025-09-20T19:36:28.114Z,1758396988.114 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:28.361Z,1758396988.361 [DAT](INFO): DAT read: Rx Time:19:36:30.7926 2025-09-20T19:36:28.363Z,1758396988.363 [DAT](INFO): Rx dataTimestamp_ set to:1758396988.361955 2025-09-20T19:36:28.366Z,1758396988.366 [DAT](INFO): DAT read: Bearing 17.3, -3.7 (Local) 2025-09-20T19:36:28.368Z,1758396988.368 [DAT](INFO): Local bearing/azimuth received: Bearing 17.3, -3.7 (Local) 2025-09-20T19:36:28.372Z,1758396988.372 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:28.387Z,1758396988.387 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-09-20T19:36:28.389Z,1758396988.389 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:36:28.390Z,1758396988.390 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:36:28.390Z,1758396988.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:28.612Z,1758396988.612 [DAT](INFO): DAT read: 19:36:30.7926 LVL= 13840, 20177, 14194, 24051, AGC= 50, IDX= 504,-0.18, 0.656, 0.673, 1.034, 2.128, PHS=-1.370,-1.410,-1.139, RAW= 202.2, 79.6, CAL= 21., 81.8, ROT= 308.4, -81.8 2025-09-20T19:36:28.613Z,1758396988.613 [DAT](INFO): got valid direction response: 19:36:30.7926 LVL= 13840, 20177, 14194, 24051, AGC= 50, IDX= 504,-0.18, 0.656, 0.673, 1.034, 2.128, PHS=-1.370,-1.410,-1.139, RAW= 202.2, 79.6, CAL= 21., 81.8, ROT= 308.4, -81.8 2025-09-20T19:36:28.613Z,1758396988.613 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-09-20T19:36:28.614Z,1758396988.614 [DAT](INFO): direction in FSK: [0.088594,-0.111777,0.989776] 2025-09-20T19:36:28.617Z,1758396988.617 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:28.865Z,1758396988.865 [DAT](INFO): DAT read: Rx Time:19:36:31.2925 2025-09-20T19:36:28.866Z,1758396988.866 [DAT](INFO): Rx dataTimestamp_ set to:1758396988.865632 2025-09-20T19:36:28.870Z,1758396988.870 [DAT](INFO): DAT read: Bearing 21.1, -6.7 (Local) 2025-09-20T19:36:28.871Z,1758396988.871 [DAT](INFO): Local bearing/azimuth received: Bearing 21.1, -6.7 (Local) 2025-09-20T19:36:28.875Z,1758396988.875 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:28.877Z,1758396988.877 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-09-20T19:36:28.878Z,1758396988.878 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:36:28.879Z,1758396988.879 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:36:28.888Z,1758396988.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:29.116Z,1758396989.116 [DAT](INFO): DAT read: 19:36:31.2925 LVL= 13920, 20065, 14130, 22259, AGC= 51, IDX= 503,-0.11, 0.222, 0.415, 0.700, 1.832, PHS=-1.508,-1.371,-1.176, RAW= 234.2, 78,CAL= 234.8, 80.6, ROT= 275.2, -80.6 2025-09-20T19:36:29.117Z,1758396989.117 [DAT](INFO): got valid direction response: 19:36:31.2925 LVL= 13920, 20065, 14130, 22259, AGC= 51, IDX= 503,-0.11, 0.222, 0.415, 0.700, 1.832, PHS=-1.508,-1.371,-1.176, RAW= 234.2, 78,CAL= 234.8, 80.6, ROT= 275.2, -80.6 2025-09-20T19:36:29.117Z,1758396989.117 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-09-20T19:36:29.118Z,1758396989.118 [DAT](INFO): direction in FSK: [0.014803,-0.162654,0.986572] 2025-09-20T19:36:29.121Z,1758396989.121 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:29.372Z,1758396989.372 [DAT](INFO): DAT read: Rx Time:19:36:31.7925 2025-09-20T19:36:29.373Z,1758396989.373 [DAT](INFO): Rx dataTimestamp_ set to:1758396989.372082 2025-09-20T19:36:29.375Z,1758396989.375 [DAT](INFO): DAT read: Bearing 28.1, -14.4 (Local) 2025-09-20T19:36:29.376Z,1758396989.376 [DAT](INFO): Local bearing/azimuth received: Bearing 28.1, -14.4 (Local) 2025-09-20T19:36:29.380Z,1758396989.380 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:29.382Z,1758396989.382 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-09-20T19:36:29.392Z,1758396989.392 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:36:29.392Z,1758396989.392 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:36:29.393Z,1758396989.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:29.606Z,1758396989.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:29.620Z,1758396989.620 [DAT](INFO): DAT read: 19:36:31.7925 LVL= 12816, 20897, 13810, 23731, AGC= 50, IDX= 503,-0.02, 0.780, 1.371, 1.584, 2.711, PHS=-1.829,-1.295,-1.171, RAW= 259.8, 68.2, CAL= 260.7, 71.,ROT= 249.3, -71.7 2025-09-20T19:36:29.621Z,1758396989.621 [DAT](INFO): got valid direction response: 19:36:31.7925 LVL= 12816, 20897, 13810, 23731, AGC= 50, IDX= 503,-0.02, 0.780, 1.371, 1.584, 2.711, PHS=-1.829,-1.295,-1.171, RAW= 259.8, 68.2, CAL= 260.7, 71.,ROT= 249.3, -71.7 2025-09-20T19:36:29.621Z,1758396989.621 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-09-20T19:36:29.622Z,1758396989.622 [DAT](INFO): direction in FSK: [-0.110988,-0.293722,0.949425] 2025-09-20T19:36:29.625Z,1758396989.625 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:29.871Z,1758396989.871 [DAT](INFO): DAT read: Rx Time:19:36:32.2924 2025-09-20T19:36:29.872Z,1758396989.872 [DAT](INFO): Rx dataTimestamp_ set to:1758396989.871729 2025-09-20T19:36:29.875Z,1758396989.875 [DAT](INFO): DAT read: Bearing 2.8, 29.3 (Local) 2025-09-20T19:36:29.876Z,1758396989.876 [DAT](INFO): Local bearing/azimuth received: Bearing 2.8, 29.3 (Local) 2025-09-20T19:36:29.880Z,1758396989.880 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.0 2025-09-20T19:36:29.882Z,1758396989.882 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-09-20T19:36:29.888Z,1758396989.888 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:36:29.888Z,1758396989.888 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:36:29.889Z,1758396989.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:30.132Z,1758396990.132 [DAT](INFO): DAT read: 19:36:32.2924 LVL= 13808, 20417, 12930, 22131, AGC= 50, IDX= 500,-0.03,-2.115, 2.916, 3.025,-1.250, PHS=-0.763,-2.072,-2.053, RAW= 90.8, 53.,CAL= 89.8, 58.3, ROT= 60.2, -58.3 2025-09-20T19:36:30.133Z,1758396990.133 [DAT](INFO): got valid direction response: 19:36:32.2924 LVL= 13808, 20417, 12930, 22131, AGC= 50, IDX= 500,-0.03,-2.115, 2.916, 3.025,-1.250, PHS=-0.763,-2.072,-2.053, RAW= 90.8, 53.,CAL= 89.8, 58.3, ROT= 60.2, -58.3 2025-09-20T19:36:30.133Z,1758396990.133 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-09-20T19:36:30.134Z,1758396990.134 [DAT](INFO): direction in FSK: [0.261146,0.455986,0.850811] 2025-09-20T19:36:30.142Z,1758396990.142 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:30.375Z,1758396990.375 [DAT](INFO): DAT read: Rx Time:19:36:32.7925 2025-09-20T19:36:30.384Z,1758396990.384 [DAT](INFO): Rx dataTimestamp_ set to:1758396990.383512 2025-09-20T19:36:30.387Z,1758396990.387 [DAT](INFO): DAT read: Bearing 4.5, 29.4 (Local) 2025-09-20T19:36:30.388Z,1758396990.388 [DAT](INFO): Local bearing/azimuth received: Bearing 4.5, 29.4 (Local) 2025-09-20T19:36:30.408Z,1758396990.408 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:30.413Z,1758396990.413 [DAT](INFO): DAT read: 19:36:32.7925 LVL= 14480, 20977, 13362, 22579, AGC= 50, IDX= 501, 0.05, 0.574,-0.558,-0.525, 1.460, PHS=-0.784,-1.973,-2.030, RAW= 87.7, 54.2, CAL= 86.5, 59.4, ROT= 63.5, -59.4 2025-09-20T19:36:30.414Z,1758396990.414 [DAT](INFO): got valid direction response: 19:36:32.7925 LVL= 14480, 20977, 13362, 22579, AGC= 50, IDX= 501, 0.05, 0.574,-0.558,-0.525, 1.460, PHS=-0.784,-1.973,-2.030, RAW= 87.7, 54.2, CAL= 86.5, 59.4, ROT= 63.5, -59.4 2025-09-20T19:36:30.414Z,1758396990.414 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-09-20T19:36:30.419Z,1758396990.419 [DAT](INFO): direction in FSK: [0.227133,0.455559,0.860742] 2025-09-20T19:36:30.420Z,1758396990.420 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:30.431Z,1758396990.431 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:36:30.431Z,1758396990.431 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:36:30.432Z,1758396990.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:30.523Z,1758396990.523 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting. 2025-09-20T19:36:30.523Z,1758396990.523 [lineCaptureHoming:LineCapture:L.Wait] Stopped 2025-09-20T19:36:30.524Z,1758396990.524 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component. 2025-09-20T19:36:30.524Z,1758396990.524 [lineCaptureHoming:LineCapture:M] Running Loop=1 2025-09-20T19:36:30.624Z,1758396990.624 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:30.829Z,1758396990.829 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 2025-09-20T19:36:30.829Z,1758396990.829 [lineCaptureHoming:LineCapture:M] Stopped 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture] Stopped 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-09-20T19:36:30.832Z,1758396990.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:G] Stopped 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:H] Stopped 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldMass] Stopped 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize. 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-09-20T19:36:30.833Z,1758396990.833 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-09-20T19:36:30.879Z,1758396990.879 [DAT](INFO): DAT read: Rx Time:19:36:33.2925 2025-09-20T19:36:30.880Z,1758396990.880 [DAT](INFO): Rx dataTimestamp_ set to:1758396990.879756 2025-09-20T19:36:30.884Z,1758396990.884 [DAT](INFO): DAT read: Bearing 4.1, 29.3 (Local) 2025-09-20T19:36:30.884Z,1758396990.884 [DAT](INFO): Local bearing/azimuth received: Bearing 4.1, 29.3 (Local) 2025-09-20T19:36:30.889Z,1758396990.889 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:30.891Z,1758396990.891 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-09-20T19:36:30.893Z,1758396990.893 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:30.894Z,1758396990.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:31.135Z,1758396991.135 [DAT](INFO): DAT read: 19:36:33.2925 LVL= 13552, 21297, 12434, 21683, AGC= 50, IDX= 500, 0.13,-0.433,-1.531,-1.509, 0.452, PHS=-0.783,-1.938,-2.005, RAW= 87.2, 54.5, CAL= 85.9, 59.7, ROT= 64.1, -59.7 2025-09-20T19:36:31.136Z,1758396991.136 [DAT](INFO): got valid direction response: 19:36:33.2925 LVL= 13552, 21297, 12434, 21683, AGC= 50, IDX= 500, 0.13,-0.433,-1.531,-1.509, 0.452, PHS=-0.783,-1.938,-2.005, RAW= 87.2, 54.5, CAL= 85.9, 59.7, ROT= 64.1, -59.7 2025-09-20T19:36:31.136Z,1758396991.136 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-09-20T19:36:31.137Z,1758396991.137 [DAT](INFO): direction in FSK: [0.220379,0.453852,0.863396] 2025-09-20T19:36:31.140Z,1758396991.140 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:31.268Z,1758396991.268 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B 2025-09-20T19:36:31.268Z,1758396991.268 [lineCaptureHoming:Lap:B] Stopped 2025-09-20T19:36:31.268Z,1758396991.268 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B 2025-09-20T19:36:31.268Z,1758396991.268 [lineCaptureHoming:Lap:C] Running Loop=1 2025-09-20T19:36:31.383Z,1758396991.383 [DAT](INFO): DAT read: Rx Time:19:36:33.7926 2025-09-20T19:36:31.384Z,1758396991.384 [DAT](INFO): Rx dataTimestamp_ set to:1758396991.383054 2025-09-20T19:36:31.387Z,1758396991.387 [DAT](INFO): DAT read: Bearing 4.9, 29.4 (Local) 2025-09-20T19:36:31.387Z,1758396991.387 [DAT](INFO): Local bearing/azimuth received: Bearing 4.9, 29.4 (Local) 2025-09-20T19:36:31.392Z,1758396991.392 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:31.393Z,1758396991.393 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-09-20T19:36:31.397Z,1758396991.397 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:36:31.397Z,1758396991.397 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:36:31.398Z,1758396991.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:31.625Z,1758396991.625 [lineCaptureHoming:Lap:C] Stopped 2025-09-20T19:36:31.625Z,1758396991.625 [lineCaptureHoming:Lap:D] Running Loop=1 2025-09-20T19:36:31.626Z,1758396991.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:31.632Z,1758396991.632 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:31.902Z,1758396991.902 [DAT](INFO): DAT read: 19:36:33.7926 LVL= 13616, 21745, 11682, 22003, AGC= 50, IDX= 501, 0.24, 1.630, 0.596, 0.566, 2.523, PHS=-0.791,-1.882,-2.001, RAW= 84.9, 55.1, CAL= 83.4, 60.2, ROT= 66.6, -60.2 Rx Time:19:36:34.2925 2025-09-20T19:36:31.902Z,1758396991.902 [DAT](INFO): Rx dataTimestamp_ set to:1758396991.902214 2025-09-20T19:36:31.904Z,1758396991.904 [DAT](INFO): DAT read: Bearing 1.2, 28.8 (Local) 2025-09-20T19:36:31.904Z,1758396991.904 [DAT](INFO): Local bearing/azimuth received: Bearing 1.2, 28.8 (Local) 2025-09-20T19:36:31.906Z,1758396991.906 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.0 2025-09-20T19:36:31.911Z,1758396991.911 [DAT](INFO): DAT read: 19:36:34.2925 LVL= 13984, 21569, 11986, 22227, AGC= 51, IDX= 500, 0.40,-0.039,-1.191,-1.119, 0.837, PHS=-0.774,-1.983,-2.001, RAW= 89.3, 54.1, CAL= 88.2, 59.3, ROT= 61.8, -59.3 2025-09-20T19:36:31.912Z,1758396991.912 [DAT](INFO): got valid direction response: 19:36:34.2925 LVL= 13984, 21569, 11986, 22227, AGC= 51, IDX= 500, 0.40,-0.039,-1.191,-1.119, 0.837, PHS=-0.774,-1.983,-2.001, RAW= 89.3, 54.1, CAL= 88.2, 59.3, ROT= 61.8, -59.3 2025-09-20T19:36:31.912Z,1758396991.912 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:36:31.913Z,1758396991.913 [DAT](INFO): direction in FSK: [0.241257,0.449943,0.859852] 2025-09-20T19:36:31.913Z,1758396991.913 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:31.939Z,1758396991.939 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:31.939Z,1758396991.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:32.038Z,1758396992.038 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 2025-09-20T19:36:32.038Z,1758396992.038 [lineCaptureHoming:Lap:D] Stopped 2025-09-20T19:36:32.038Z,1758396992.038 [lineCaptureHoming:Lap:E] Running Loop=1 2025-09-20T19:36:32.039Z,1758396992.039 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E 2025-09-20T19:36:32.138Z,1758396992.138 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:32.391Z,1758396992.391 [DAT](INFO): DAT read: Rx Time:19:36:34.7926 2025-09-20T19:36:32.392Z,1758396992.392 [DAT](INFO): Rx dataTimestamp_ set to:1758396992.391549 2025-09-20T19:36:32.399Z,1758396992.399 [DAT](INFO): DAT read: Bearing 358.5, 28.8 (Local) 2025-09-20T19:36:32.399Z,1758396992.399 [DAT](INFO): Local bearing/azimuth received: Bearing 358.5, 28.8 (Local) 2025-09-20T19:36:32.401Z,1758396992.401 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0 2025-09-20T19:36:32.406Z,1758396992.406 [DAT](INFO): DAT read: 19:36:34.7926 LVL= 13072, 20561, 12018, 23731, AGC= 51, IDX= 502,-0.33,-0.670,-1.951,-1.821, 0.204, PHS=-0.772,-2.110,-2.069, RAW= 91.6, 53.0, CAL= 90.6, 58.3, ROT= 59.4, -58.3 2025-09-20T19:36:32.411Z,1758396992.411 [DAT](INFO): got valid direction response: 19:36:34.7926 LVL= 13072, 20561, 12018, 23731, AGC= 51, IDX= 502,-0.33,-0.670,-1.951,-1.821, 0.204, PHS=-0.772,-2.110,-2.069, RAW= 91.6, 53.0, CAL= 90.6, 58.3, ROT= 59.4, -58.3 2025-09-20T19:36:32.411Z,1758396992.411 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:36:32.412Z,1758396992.412 [DAT](INFO): direction in FSK: [0.267487,0.452296,0.850811] 2025-09-20T19:36:32.413Z,1758396992.413 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:32.438Z,1758396992.438 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:32.438Z,1758396992.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:32.540Z,1758396992.540 [lineCaptureHoming:restartDHCP] Running Loop=1 2025-09-20T19:36:32.540Z,1758396992.540 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP 2025-09-20T19:36:32.540Z,1758396992.540 [lineCaptureHoming:restartDHCP:A] Running Loop=1 2025-09-20T19:36:32.540Z,1758396992.540 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP... 2025-09-20T19:36:32.540Z,1758396992.540 [lineCaptureHoming:restartDHCP:A] Stopped 2025-09-20T19:36:32.540Z,1758396992.540 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1 2025-09-20T19:36:32.640Z,1758396992.640 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:32.834Z,1758396992.834 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-09-20T19:36:32.835Z,1758396992.835 [lineCaptureHoming:restartDHCP:B.Execute] Stopped 2025-09-20T19:36:32.836Z,1758396992.836 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP 2025-09-20T19:36:32.836Z,1758396992.836 [lineCaptureHoming:restartDHCP] Stopped 2025-09-20T19:36:32.836Z,1758396992.836 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP 2025-09-20T19:36:32.892Z,1758396992.892 [DAT](INFO): DAT read: user:82> 2025-09-20T19:36:32.893Z,1758396992.893 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:36:32.937Z,1758396992.937 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-09-20T19:36:33.149Z,1758396993.149 [DAT](INFO): DAT read: Command 'tr50' not found 2025-09-20T19:36:33.152Z,1758396993.152 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found 2025-09-20T19:36:33.153Z,1758396993.153 [DAT](INFO): DAT read: Error 2025-09-20T19:36:33.155Z,1758396993.155 [DAT](INFO): unknown deviceResponse_: Error 2025-09-20T19:36:33.181Z,1758396993.181 [DAT](INFO): DAT read: user:83> 2025-09-20T19:36:33.182Z,1758396993.182 [DAT](INFO): DAT read: Tx time:19:36:35.8079 2025-09-20T19:36:33.182Z,1758396993.182 [DAT](INFO): Ping request sent. 2025-09-20T19:36:33.182Z,1758396993.182 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:36:33.183Z,1758396993.183 [DAT](INFO): publishing transmit ping time 2025-09-20T19:36:33.184Z,1758396993.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001147 2025-09-20T19:36:33.396Z,1758396993.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.213629 2025-09-20T19:36:33.413Z,1758396993.413 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E 2025-09-20T19:36:33.413Z,1758396993.413 [lineCaptureHoming:Lap:E] Stopped 2025-09-20T19:36:33.413Z,1758396993.413 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E 2025-09-20T19:36:33.413Z,1758396993.413 [lineCaptureHoming:Lap:Docked] Running Loop=1 2025-09-20T19:36:33.413Z,1758396993.413 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked 2025-09-20T19:36:33.414Z,1758396993.414 [lineCaptureHoming:Lap:Docked:A] Running Loop=1 2025-09-20T19:36:33.545Z,1758396993.545 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-09-20UTC193633_sh 2025-09-20T19:36:33.649Z,1758396993.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.466199 2025-09-20T19:36:33.669Z,1758396993.669 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 2025-09-20T19:36:33.669Z,1758396993.669 [lineCaptureHoming:Lap:Docked:A] Stopped 2025-09-20T19:36:33.669Z,1758396993.669 [lineCaptureHoming:Lap:Docked:C] Running Loop=1 2025-09-20T19:36:33.670Z,1758396993.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:36:33.900Z,1758396993.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.717730 2025-09-20T19:36:34.047Z,1758396994.047 [lineCaptureHoming:Lap:Docked:C] Stopped 2025-09-20T19:36:34.047Z,1758396994.047 [lineCaptureHoming:Lap:Docked:D] Running Loop=1 2025-09-20T19:36:34.156Z,1758396994.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.973177 2025-09-20T19:36:34.404Z,1758396994.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221579 2025-09-20T19:36:34.474Z,1758396994.474 [lineCaptureHoming:Lap:Docked:D] Stopped 2025-09-20T19:36:34.474Z,1758396994.474 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1 2025-09-20T19:36:34.474Z,1758396994.474 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize. 2025-09-20T19:36:34.474Z,1758396994.474 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2025-09-20T19:36:34.656Z,1758396994.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473494 2025-09-20T19:36:34.908Z,1758396994.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725533 2025-09-20T19:36:35.162Z,1758396995.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979351 2025-09-20T19:36:35.412Z,1758396995.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229659 2025-09-20T19:36:35.664Z,1758396995.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481914 2025-09-20T19:36:35.677Z,1758396995.677 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-09-20T19:36:35.793Z,1758396995.793 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-09-20T19:36:35.916Z,1758396995.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733542 2025-09-20T19:36:36.171Z,1758396996.171 [DAT](INFO): DAT read: Rx Time:19:36:38.2172 2025-09-20T19:36:36.173Z,1758396996.173 [DAT](INFO): Rx dataTimestamp_ set to:1758396996.171221 2025-09-20T19:36:36.175Z,1758396996.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991537 2025-09-20T19:36:36.420Z,1758396996.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237606 2025-09-20T19:36:36.677Z,1758396996.677 [DAT](INFO): DAT read: 19:36:38.2172 LVL= 15744, 20705, 18738, 22515, AGC= 52, IDX= 212, 0.01, 0.658, 0.192, 1.161, 1.879, PHS=-1.118,-1.642,-0.762, RAW= 173.7, 58.4, CAL= 174.1, 65.1, ROT= 335.9, -65.1 2025-09-20T19:36:36.678Z,1758396996.678 [DAT](INFO): got valid direction response: 19:36:38.2172 LVL= 15744, 20705, 18738, 22515, AGC= 52, IDX= 212, 0.01, 0.658, 0.192, 1.161, 1.879, PHS=-1.118,-1.642,-0.762, RAW= 173.7, 58.4, CAL= 174.1, 65.1, ROT= 335.9, -65.1 2025-09-20T19:36:36.679Z,1758396996.679 [DAT](INFO): DAT read: Bearing 350.3, -8.2 (Local) 2025-09-20T19:36:36.680Z,1758396996.680 [DAT](INFO): Local bearing/azimuth received: Bearing 350.3, -8.2 (Local) 2025-09-20T19:36:36.681Z,1758396996.681 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (Round-trip 5.2 ms) speed 0.0 m/s 2025-09-20T19:36:36.682Z,1758396996.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:36:36.683Z,1758396996.683 [DAT](INFO): direction in FSK: [0.384336,-0.171922,0.907044] 2025-09-20T19:36:36.683Z,1758396996.683 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:36.686Z,1758396996.686 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:36:36.686Z,1758396996.686 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:36:36.701Z,1758396996.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:36:36.925Z,1758396996.925 [DAT](INFO): DAT read: user:84> 2025-09-20T19:36:36.926Z,1758396996.926 [DAT](INFO): DAT read: Tx time:19:36:39.6079 2025-09-20T19:36:36.926Z,1758396996.926 [DAT](INFO): Ping request sent. 2025-09-20T19:36:36.926Z,1758396996.926 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:36:36.926Z,1758396996.926 [DAT](INFO): publishing transmit ping time 2025-09-20T19:36:36.927Z,1758396996.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000882 2025-09-20T19:36:37.178Z,1758396997.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251375 2025-09-20T19:36:37.428Z,1758396997.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501680 2025-09-20T19:36:37.680Z,1758396997.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753777 2025-09-20T19:36:37.933Z,1758396997.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006016 2025-09-20T19:36:38.186Z,1758396998.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259256 2025-09-20T19:36:38.436Z,1758396998.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509661 2025-09-20T19:36:38.688Z,1758396998.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761694 2025-09-20T19:36:38.940Z,1758396998.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013829 2025-09-20T19:36:39.195Z,1758396999.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267870 2025-09-20T19:36:39.350Z,1758396999.350 [DockingStepper](INFO): Changing to mode: 1 2025-09-20T19:36:39.444Z,1758396999.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517681 2025-09-20T19:36:39.696Z,1758396999.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769843 2025-09-20T19:36:39.948Z,1758396999.948 [DAT](INFO): DAT read: Rx Time:19:36:42.0172 2025-09-20T19:36:39.948Z,1758396999.948 [DAT](INFO): Rx dataTimestamp_ set to:1758396999.948143 2025-09-20T19:36:39.949Z,1758396999.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022723 2025-09-20T19:36:40.204Z,1758397000.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276833 2025-09-20T19:36:40.457Z,1758397000.457 [DAT](INFO): DAT read: 19:36:42.0172 LVL= 14320, 19233, 18242, 25315, AGC= 51, IDX= 436, 0.08, 0.334, 0.250, 0.808, 1.741, PHS=-1.305,-1.446,-0.977, RAW= 193.0, 72.4, CAL= 192.2, 76.1, ROT= 317.8, -76.1 2025-09-20T19:36:40.458Z,1758397000.458 [DAT](INFO): got valid direction response: 19:36:42.0172 LVL= 14320, 19233, 18242, 25315, AGC= 51, IDX= 436, 0.08, 0.334, 0.250, 0.808, 1.741, PHS=-1.305,-1.446,-0.977, RAW= 193.0, 72.4, CAL= 192.2, 76.1, ROT= 317.8, -76.1 2025-09-20T19:36:40.459Z,1758397000.459 [DAT](INFO): DAT read: Bearing 2.4, -6.7 (Local) 2025-09-20T19:36:40.460Z,1758397000.460 [DAT](INFO): Local bearing/azimuth received: Bearing 2.4, -6.7 (Local) 2025-09-20T19:36:40.461Z,1758397000.461 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (Round-trip 5.2 ms) speed 0.0 m/s 2025-09-20T19:36:40.461Z,1758397000.461 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:36:40.462Z,1758397000.462 [DAT](INFO): direction in FSK: [0.177962,-0.161366,0.970716] 2025-09-20T19:36:40.463Z,1758397000.463 [DAT](INFO): publishing direction and range info 2025-09-20T19:36:40.467Z,1758397000.467 [DAT](INFO): Requesting device enable set for address 50. 2025-09-20T19:36:40.704Z,1758397000.704 [DAT](INFO): DAT read: user:85> 2025-09-20T19:36:40.705Z,1758397000.705 [DAT](INFO): DAT read: Tx time:19:36:43.4069 2025-09-20T19:36:40.705Z,1758397000.705 [DAT](INFO): Ping request sent. 2025-09-20T19:36:40.705Z,1758397000.705 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:36:40.705Z,1758397000.705 [DAT](INFO): publishing transmit ping time 2025-09-20T19:36:40.706Z,1758397000.706 [DAT](INFO): Requesting device enable set for address 50. 2025-09-20T19:36:40.957Z,1758397000.957 [DAT](INFO): Requesting device enable set for address 50. 2025-09-20T19:36:43.224Z,1758397003.224 [DAT](INFO): DAT read: Rx Time:19:36:45.3154 2025-09-20T19:36:43.224Z,1758397003.224 [DAT](INFO): Rx dataTimestamp_ set to:1758397003.224174 2025-09-20T19:36:43.728Z,1758397003.728 [DAT](INFO): DAT read: OK 2025-09-20T19:36:43.728Z,1758397003.728 [DAT](INFO): unknown deviceResponse_: OK 2025-09-20T19:36:43.729Z,1758397003.729 [DAT](INFO): DAT read: user:86> 2025-09-20T19:36:43.729Z,1758397003.729 [DAT](INFO): DAT read: Tx time:19:36:46.4068 2025-09-20T19:36:43.729Z,1758397003.729 [DAT](INFO): Ping request sent. 2025-09-20T19:36:43.730Z,1758397003.730 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:36:43.730Z,1758397003.730 [DAT](INFO): publishing transmit ping time 2025-09-20T19:36:45.321Z,1758397005.321 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:36:46.248Z,1758397006.248 [DAT](INFO): DAT read: Rx Time:19:36:48.3154 2025-09-20T19:36:46.249Z,1758397006.249 [DAT](INFO): Rx dataTimestamp_ set to:1758397006.248224 2025-09-20T19:36:46.325Z,1758397006.325 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:36:46.752Z,1758397006.752 [DAT](INFO): DAT read: OK 2025-09-20T19:36:46.752Z,1758397006.752 [DAT](INFO): unknown deviceResponse_: OK 2025-09-20T19:36:46.752Z,1758397006.752 [DAT](INFO): DAT read: user:87> 2025-09-20T19:36:46.753Z,1758397006.753 [DAT](INFO): DAT read: Tx time:19:36:49.4068 2025-09-20T19:36:46.753Z,1758397006.753 [DAT](INFO): Ping request sent. 2025-09-20T19:36:46.754Z,1758397006.754 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:36:46.754Z,1758397006.754 [DAT](INFO): publishing transmit ping time 2025-09-20T19:36:48.580Z,1758397008.580 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 99.98, 105.60, 102.03 2025-09-20T19:36:49.280Z,1758397009.280 [DAT](INFO): DAT read: Rx Time:19:36:51.3155 2025-09-20T19:36:49.281Z,1758397009.281 [DAT](INFO): Rx dataTimestamp_ set to:1758397009.280545 2025-09-20T19:36:49.790Z,1758397009.790 [DAT](INFO): DAT read: 19:36:51.3155 LVL= 15280, 19521, 19442, 24787, AGC= 50, IDX= 451,-0.08, 0.746, 0.180, 1.094, 1.913, PHS=-1.064,-1.688,-0.862, RAW= 163.6, 59.7, CAL= 164.9, 66.3, ROT= 345.1, -66.3 2025-09-20T19:36:49.792Z,1758397009.792 [DAT](INFO): got valid direction response: 19:36:51.3155 LVL= 15280, 19521, 19442, 24787, AGC= 50, IDX= 451,-0.08, 0.746, 0.180, 1.094, 1.913, PHS=-1.064,-1.688,-0.862, RAW= 163.6, 59.7, CAL= 164.9, 66.3, ROT= 345.1, -66.3 2025-09-20T19:36:49.792Z,1758397009.792 [DAT](INFO): DAT read: OK 2025-09-20T19:36:49.793Z,1758397009.793 [DAT](INFO): unknown deviceResponse_: OK 2025-09-20T19:36:49.793Z,1758397009.793 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-09-20T19:36:49.796Z,1758397009.796 [DAT](INFO): direction in FSK: [0.388433,-0.103354,0.915663] 2025-09-20T19:37:16.529Z,1758397036.529 [DAT](INFO): DAT read: user:88>Rx Time:19:37:18.7162 2025-09-20T19:37:16.529Z,1758397036.529 [DAT](INFO): Rx dataTimestamp_ set to:1758397036.529172 2025-09-20T19:37:17.289Z,1758397037.289 [DAT](INFO): DAT read: 19:37:18.7162 LVL= 18416, 12081, 21954, 22483, AGC= 50, IDX= 491, 0.44, 2.399, 0.895, 2.633,-2.921, PHS=-0.860,-2.422,-0.773, RAW= 152.7, 41.7, CAL= 156.4, 52.0, ROT= 353.6, -52.0 2025-09-20T19:37:17.290Z,1758397037.290 [DAT](INFO): got valid direction response: 19:37:18.7162 LVL= 18416, 12081, 21954, 22483, AGC= 50, IDX= 491, 0.44, 2.399, 0.895, 2.633,-2.921, PHS=-0.860,-2.422,-0.773, RAW= 152.7, 41.7, CAL= 156.4, 52.0, ROT= 353.6, -52.0 2025-09-20T19:37:17.291Z,1758397037.291 [DAT](INFO): DAT read: 2025-09-20T19:37:17.292Z,1758397037.292 [DAT](INFO): DAT read: DATA(0005):stop 2025-09-20T19:37:17.292Z,1758397037.292 [DAT](INFO): Got DATA 5 2025-09-20T19:37:17.292Z,1758397037.292 [DAT](INFO): DAT read: 2025-09-20T19:37:17.293Z,1758397037.293 [DAT](INFO): DAT read: Source:050 Destination:011 2025-09-20T19:37:17.293Z,1758397037.293 [DAT](INFO): Got Src/Dest after DATA 2025-09-20T19:37:17.294Z,1758397037.294 [DAT](INFO): DATA Src=50, Dst=11 2025-09-20T19:37:17.295Z,1758397037.295 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:17.2 AGC:48 SPD:+0.1 CCERR:013 2025-09-20T19:37:17.295Z,1758397037.295 [DAT](INFO): Got CRC:Pass 2025-09-20T19:37:17.295Z,1758397037.295 [DAT](INFO): Got CRC:Pass 2025-09-20T19:37:17.295Z,1758397037.295 [DAT](INFO): Incoming data is intended for us 2025-09-20T19:37:17.295Z,1758397037.295 [DAT](INFO): Received command: stop 2025-09-20T19:37:17.296Z,1758397037.296 [DAT](INFO): #Outgoing data=1 2025-09-20T19:37:17.296Z,1758397037.296 [DAT](INFO): Sending ack 2025-09-20T19:37:17.296Z,1758397037.296 [DAT](INFO): DAT read: 2025-09-20T19:37:17.297Z,1758397037.297 [DAT](INFO): DAT read: 2025-09-20T19:37:17.297Z,1758397037.297 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-09-20T19:37:17.297Z,1758397037.297 [DAT](INFO): #Rx 3: Read direction message, but no range. 2025-09-20T19:37:17.298Z,1758397037.298 [DAT](INFO): direction in FSK: [0.611825,-0.068627,0.788011] 2025-09-20T19:37:17.324Z,1758397037.324 [CommandExec](IMPORTANT): got command stop 2025-09-20T19:37:17.324Z,1758397037.324 [CommandExec](IMPORTANT): Scheduling is paused for 2 commands 2025-09-20T19:37:17.324Z,1758397037.324 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2025-09-20T19:37:17.342Z,1758397037.342 [MissionManager](INFO): MissionManager is completed. 2025-09-20T19:37:17.342Z,1758397037.342 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming 2025-09-20T19:37:17.342Z,1758397037.342 [lineCaptureHoming] Stopped 2025-09-20T19:37:17.342Z,1758397037.342 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming 2025-09-20T19:37:17.343Z,1758397037.343 [lineCaptureHoming:Science] Stopped 2025-09-20T19:37:17.343Z,1758397037.343 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science 2025-09-20T19:37:17.343Z,1758397037.343 [lineCaptureHoming:Science:B] Stopped 2025-09-20T19:37:17.343Z,1758397037.343 [lineCaptureHoming:Science:C] Stopped 2025-09-20T19:37:17.343Z,1758397037.343 [lineCaptureHoming:Science:E] Stopped 2025-09-20T19:37:17.343Z,1758397037.343 [lineCaptureHoming:Science:OceanCurrent] Stopped 2025-09-20T19:37:17.343Z,1758397037.343 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent 2025-09-20T19:37:17.343Z,1758397037.343 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:StandardEnvelopes] Stopped 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:MicromodemComms] Stopped 2025-09-20T19:37:17.344Z,1758397037.344 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:TrackAC.] Stopped 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact. 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:Lap] Stopped 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:Lap:Docked] Stopped 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked 2025-09-20T19:37:17.345Z,1758397037.345 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped 2025-09-20T19:37:17.536Z,1758397037.536 [DAT](INFO): setting remote address to 50 2025-09-20T19:37:17.719Z,1758397037.719 [WetLabsBB2FL](INFO): Powering down 2025-09-20T19:37:17.790Z,1758397037.790 [DAT](INFO): DAT read: 2025-09-20T19:37:17.794Z,1758397037.794 [DAT](INFO): DAT read: RemoteAddr | 50 2025-09-20T19:37:17.795Z,1758397037.795 [DAT](INFO): set remote address to 50 2025-09-20T19:37:17.797Z,1758397037.797 [DAT](INFO): DAT read: user:89> 2025-09-20T19:37:17.799Z,1758397037.799 [DAT](INFO): DAT read: Tx time:19:37:20.4567 2025-09-20T19:37:17.800Z,1758397037.800 [DAT](INFO): Ping request sent. 2025-09-20T19:37:17.801Z,1758397037.801 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:37:17.803Z,1758397037.803 [DAT](INFO): entering online mode 2025-09-20T19:37:17.922Z,1758397037.922 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-09-20T19:37:17.922Z,1758397037.922 [DefaultWithUndock] Running Loop=1 2025-09-20T19:37:17.922Z,1758397037.922 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-09-20T19:37:17.922Z,1758397037.922 [DefaultWithUndock:A.Wait] Running Loop=1 2025-09-20T19:37:17.922Z,1758397037.922 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-09-20T19:37:18.040Z,1758397038.040 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:18.292Z,1758397038.292 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:18.544Z,1758397038.544 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:18.798Z,1758397038.798 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:19.048Z,1758397039.048 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:19.300Z,1758397039.300 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:19.552Z,1758397039.552 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:19.809Z,1758397039.809 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:20.060Z,1758397040.060 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:20.312Z,1758397040.312 [DAT](INFO): DAT read: Rx Time:19:37:22.3664 2025-09-20T19:37:20.313Z,1758397040.313 [DAT](INFO): Rx dataTimestamp_ set to:1758397040.312445 2025-09-20T19:37:20.313Z,1758397040.313 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:20.564Z,1758397040.564 [DAT](DEBUG): checking for online mode acknowledgment 2025-09-20T19:37:20.836Z,1758397040.836 [DAT](INFO): DAT read: 19:37:22.3664 LVL= 19504, 12881, 25842, 21043, AGC= 50, IDX= 445,-0.44, 1.594, 0.037, 1.813, 2.587, PHS=-0.891,-2.504,-0.818, RAW= 152.2, 42.0, CAL= 155.9, 52.2, ROT= 354.1, -52.2 2025-09-20T19:37:20.839Z,1758397040.839 [DAT](INFO): got valid direction response: 19:37:22.3664 LVL= 19504, 12881, 25842, 21043, AGC= 50, IDX= 445,-0.44, 1.594, 0.037, 1.813, 2.587, PHS=-0.891,-2.504,-0.818, RAW= 152.2, 42.0, CAL= 155.9, 52.2, ROT= 354.1, -52.2 2025-09-20T19:37:20.841Z,1758397040.841 [DAT](INFO): DAT read: OK 2025-09-20T19:37:20.842Z,1758397040.842 [DAT](INFO): unknown deviceResponse_: OK 2025-09-20T19:37:20.843Z,1758397040.843 [DAT](INFO): DAT read: user:90> 2025-09-20T19:37:20.845Z,1758397040.845 [DAT](INFO): DAT read: 2025-09-20T19:37:20.849Z,1758397040.849 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-09-20T19:37:20.850Z,1758397040.850 [DAT](INFO): commRate: 600 2025-09-20T19:37:20.850Z,1758397040.850 [DAT](INFO): online mode acknowledged 2025-09-20T19:37:20.852Z,1758397040.852 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-09-20T19:37:20.853Z,1758397040.853 [DAT](INFO): #Rx 4: Read direction message, but no range. 2025-09-20T19:37:20.857Z,1758397040.857 [DAT](INFO): direction in FSK: [0.609660,-0.063002,0.790155] 2025-09-20T19:37:23.139Z,1758397043.139 [DAT](INFO): entering command mode 2025-09-20T19:37:23.340Z,1758397043.340 [DAT](INFO): DAT read: 2025-09-20T19:37:23.340Z,1758397043.340 [DAT](INFO): DAT read: user:91> 2025-09-20T19:37:23.592Z,1758397043.592 [DAT](INFO): DAT read: user:91> 2025-09-20T19:37:23.593Z,1758397043.593 [DAT](INFO): DAT read: Tx time:19:37:26.2067 2025-09-20T19:37:23.593Z,1758397043.593 [DAT](INFO): Ping request sent. 2025-09-20T19:37:23.593Z,1758397043.593 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:37:23.593Z,1758397043.593 [DAT](INFO): publishing transmit ping time 2025-09-20T19:37:25.868Z,1758397045.868 [DAT](INFO): DAT read: Rx Time:19:37:28.1165 2025-09-20T19:37:25.868Z,1758397045.868 [DAT](INFO): Rx dataTimestamp_ set to:1758397045.868155 2025-09-20T19:37:26.620Z,1758397046.620 [DAT](INFO): DAT read: 19:37:28.1165 LVL= 16800, 16241, 19586, 23859, AGC= 51, IDX= 446, 0.08, 2.218, 1.415, 2.526,-2.946, PHS=-1.017,-1.877,-0.855, RAW= 158.5, 54.3, CAL= 160.5, 62.0, ROT= 349.5, -62.0 2025-09-20T19:37:26.622Z,1758397046.622 [DAT](INFO): got valid direction response: 19:37:28.1165 LVL= 16800, 16241, 19586, 23859, AGC= 51, IDX= 446, 0.08, 2.218, 1.415, 2.526,-2.946, PHS=-1.017,-1.877,-0.855, RAW= 158.5, 54.3, CAL= 160.5, 62.0, ROT= 349.5, -62.0 2025-09-20T19:37:26.622Z,1758397046.622 [DAT](INFO): DAT read: OK 2025-09-20T19:37:26.622Z,1758397046.622 [DAT](INFO): unknown deviceResponse_: OK 2025-09-20T19:37:26.623Z,1758397046.623 [DAT](INFO): DAT read: user:92> 2025-09-20T19:37:26.623Z,1758397046.623 [DAT](INFO): DAT read: Tx time:19:37:29.2067 2025-09-20T19:37:26.624Z,1758397046.624 [DAT](INFO): Ping request sent. 2025-09-20T19:37:26.624Z,1758397046.624 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:37:26.624Z,1758397046.624 [DAT](INFO): #Rx 5: Read direction message, but no range. 2025-09-20T19:37:26.625Z,1758397046.625 [DAT](INFO): direction in FSK: [0.461610,-0.085555,0.882948] 2025-09-20T19:37:26.625Z,1758397046.625 [DAT](INFO): publishing transmit ping time 2025-09-20T19:37:26.628Z,1758397046.628 [DAT](INFO): publishing transmit ping time 2025-09-20T19:37:28.884Z,1758397048.884 [DAT](INFO): DAT read: Rx Time:19:37:31.1166 2025-09-20T19:37:28.884Z,1758397048.884 [DAT](INFO): Rx dataTimestamp_ set to:1758397048.884210 2025-09-20T19:37:29.394Z,1758397049.394 [DAT](INFO): DAT read: 19:37:31.1166 LVL= 17648, 17969, 23906, 26675, AGC= 52, IDX= 447, 0.01, 1.683, 0.670, 2.027, 2.812, PHS=-1.026,-2.097,-0.828, RAW= 158.4, 49.8, CAL= 160.7, 58.4, ROT= 349.3, -58.4 2025-09-20T19:37:29.395Z,1758397049.395 [DAT](INFO): got valid direction response: 19:37:31.1166 LVL= 17648, 17969, 23906, 26675, AGC= 52, IDX= 447, 0.01, 1.683, 0.670, 2.027, 2.812, PHS=-1.026,-2.097,-0.828, RAW= 158.4, 49.8, CAL= 160.7, 58.4, ROT= 349.3, -58.4 2025-09-20T19:37:29.396Z,1758397049.396 [DAT](INFO): DAT read: OK 2025-09-20T19:37:29.396Z,1758397049.396 [DAT](INFO): unknown deviceResponse_: OK 2025-09-20T19:37:29.396Z,1758397049.396 [DAT](INFO): #Rx 6: Read direction message, but no range. 2025-09-20T19:37:29.397Z,1758397049.397 [DAT](INFO): direction in FSK: [0.514875,-0.097287,0.851727] 2025-09-20T19:37:30.900Z,1758397050.900 [DAT](FAULT): Buffer send receipt timeout failure. 2025-09-20T19:37:30.900Z,1758397050.900 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER 2025-09-20T19:37:31.152Z,1758397051.152 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-09-20T19:37:31.404Z,1758397051.404 [DAT](INFO): entering online mode 2025-09-20T19:37:31.656Z,1758397051.656 [DAT](INFO): DAT read: user:93> 2025-09-20T19:37:31.656Z,1758397051.656 [DAT](INFO): DAT read: 2025-09-20T19:37:31.658Z,1758397051.658 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-09-20T19:37:31.658Z,1758397051.658 [DAT](INFO): commRate: 600 2025-09-20T19:37:31.658Z,1758397051.658 [DAT](INFO): online mode acknowledged 2025-09-20T19:37:31.658Z,1758397051.658 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-09-20T19:37:34.932Z,1758397054.932 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:37:37.6065 2025-09-20T19:37:34.933Z,1758397054.933 [DAT](DEBUG): In parseResponses, sent ack so set commsState_ = SENDING_VERIFIED 2025-09-20T19:37:34.933Z,1758397054.933 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-09-20T19:37:48.112Z,1758397068.112 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2025-09-20T19:37:48.112Z,1758397068.112 [DefaultWithUndock:A.Wait] Stopped 2025-09-20T19:37:48.112Z,1758397068.112 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-09-20T19:37:48.113Z,1758397068.113 [DefaultWithUndock:LeaveDock] Running Loop=1 2025-09-20T19:37:48.114Z,1758397068.114 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2025-09-20T19:37:48.114Z,1758397068.114 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-09-20T19:37:48.114Z,1758397068.114 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2025-09-20T19:37:48.116Z,1758397068.116 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2025-09-20T19:37:48.116Z,1758397068.116 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-09-20T19:37:48.116Z,1758397068.116 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-09-20T19:37:48.535Z,1758397068.535 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-09-20T19:37:48.535Z,1758397068.535 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-09-20T19:37:48.536Z,1758397068.536 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock at depth 63.579926 m. 2025-09-20T19:37:48.537Z,1758397068.537 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-09-20T19:37:48.537Z,1758397068.537 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed 2025-09-20T19:37:49.370Z,1758397069.370 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-09-20T19:37:49.488Z,1758397069.488 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-09-20T19:37:52.008Z,1758397072.008 [CTD_Seabird](ERROR): Failed to parse device response: 2025-09-20T19:37:53.000Z,1758397073.000 [DockingStepper](INFO): Changing to mode: 3 2025-09-20T19:37:58.216Z,1758397078.216 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-09-20T19:37:58.379Z,1758397078.379 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:37:58.431Z,1758397078.431 [DAT](INFO): entering command mode 2025-09-20T19:37:58.628Z,1758397078.628 [DAT](INFO): DAT read: user:94> 2025-09-20T19:37:58.629Z,1758397078.629 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:37:58.629Z,1758397078.629 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:37:58.880Z,1758397078.880 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:37:58.880Z,1758397078.880 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:37:59.015Z,1758397079.015 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2025-09-20T19:37:59.132Z,1758397079.132 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:37:59.132Z,1758397079.132 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:37:59.386Z,1758397079.386 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:37:59.386Z,1758397079.386 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:37:59.636Z,1758397079.636 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:37:59.636Z,1758397079.636 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:37:59.888Z,1758397079.888 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:37:59.888Z,1758397079.888 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:00.140Z,1758397080.140 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:00.140Z,1758397080.140 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:00.394Z,1758397080.394 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:00.395Z,1758397080.395 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:00.644Z,1758397080.644 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:00.644Z,1758397080.644 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:00.896Z,1758397080.896 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:00.896Z,1758397080.896 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:01.148Z,1758397081.148 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:01.148Z,1758397081.148 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:01.402Z,1758397081.402 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:01.402Z,1758397081.402 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:01.652Z,1758397081.652 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:01.652Z,1758397081.652 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:01.904Z,1758397081.904 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:01.904Z,1758397081.904 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:02.156Z,1758397082.156 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:02.156Z,1758397082.156 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:02.408Z,1758397082.408 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:02.408Z,1758397082.408 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:02.660Z,1758397082.660 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:02.660Z,1758397082.660 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:02.912Z,1758397082.912 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:02.912Z,1758397082.912 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:03.164Z,1758397083.164 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:03.164Z,1758397083.164 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:03.416Z,1758397083.416 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:03.416Z,1758397083.416 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:03.668Z,1758397083.668 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:03.668Z,1758397083.668 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:03.920Z,1758397083.920 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:03.921Z,1758397083.921 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:04.172Z,1758397084.172 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:04.172Z,1758397084.172 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:04.424Z,1758397084.424 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:04.424Z,1758397084.424 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:04.676Z,1758397084.676 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:04.676Z,1758397084.676 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:04.928Z,1758397084.928 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:04.928Z,1758397084.928 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:05.180Z,1758397085.180 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:05.180Z,1758397085.180 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:05.432Z,1758397085.432 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:05.432Z,1758397085.432 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:05.684Z,1758397085.684 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:05.684Z,1758397085.684 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:05.936Z,1758397085.936 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:05.936Z,1758397085.936 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:06.188Z,1758397086.188 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:06.188Z,1758397086.188 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:06.440Z,1758397086.440 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:06.440Z,1758397086.440 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:06.692Z,1758397086.692 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:06.692Z,1758397086.692 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:06.944Z,1758397086.944 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:06.944Z,1758397086.944 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:07.196Z,1758397087.196 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:07.197Z,1758397087.197 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:07.448Z,1758397087.448 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:07.448Z,1758397087.448 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:07.700Z,1758397087.700 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:07.700Z,1758397087.700 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:07.952Z,1758397087.952 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:07.952Z,1758397087.952 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:08.204Z,1758397088.204 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:08.204Z,1758397088.204 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:08.320Z,1758397088.320 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-09-20T19:38:08.456Z,1758397088.456 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:08.456Z,1758397088.456 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:08.708Z,1758397088.708 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:08.708Z,1758397088.708 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:08.960Z,1758397088.960 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:08.960Z,1758397088.960 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:09.123Z,1758397089.124 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off. 2025-09-20T19:38:09.212Z,1758397089.212 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:09.212Z,1758397089.212 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:09.464Z,1758397089.464 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:09.464Z,1758397089.464 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:09.716Z,1758397089.716 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:09.716Z,1758397089.716 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:09.981Z,1758397089.981 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:09.981Z,1758397089.981 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:10.232Z,1758397090.232 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:10.232Z,1758397090.232 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:10.484Z,1758397090.484 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:10.484Z,1758397090.484 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:10.736Z,1758397090.736 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:10.736Z,1758397090.736 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:10.988Z,1758397090.988 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:10.988Z,1758397090.988 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:11.242Z,1758397091.242 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:11.243Z,1758397091.243 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:11.492Z,1758397091.492 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:11.492Z,1758397091.492 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:11.744Z,1758397091.744 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:11.744Z,1758397091.744 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:11.996Z,1758397091.996 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:11.996Z,1758397091.996 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:12.248Z,1758397092.248 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:12.248Z,1758397092.248 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:12.500Z,1758397092.500 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:12.500Z,1758397092.500 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:12.752Z,1758397092.752 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:12.752Z,1758397092.752 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:13.004Z,1758397093.004 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:13.004Z,1758397093.004 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:13.256Z,1758397093.256 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:13.256Z,1758397093.256 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:13.508Z,1758397093.508 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:13.508Z,1758397093.508 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:38:13.508Z,1758397093.508 [DAT](FAULT): failed to enter command mode 2025-09-20T19:38:13.760Z,1758397093.760 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:13.811Z,1758397093.811 [DAT](INFO): entering command mode 2025-09-20T19:38:14.014Z,1758397094.014 [DAT](INFO): DAT read: user:94> 2025-09-20T19:38:14.015Z,1758397094.015 [DAT](INFO): DAT read: Command '+++' not found 2025-09-20T19:38:14.015Z,1758397094.015 [DAT](INFO): DAT read: Error 2025-09-20T19:38:14.016Z,1758397094.016 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:14.016Z,1758397094.016 [DAT](INFO): setting remote address to 0 2025-09-20T19:38:14.264Z,1758397094.264 [DAT](INFO): DAT read: user:95> 2025-09-20T19:38:14.265Z,1758397094.265 [DAT](INFO): DAT read: RemoteAddr | 0 2025-09-20T19:38:14.265Z,1758397094.265 [DAT](INFO): set remote address to 0 2025-09-20T19:38:14.266Z,1758397094.266 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:38:14.266Z,1758397094.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:38:14.516Z,1758397094.516 [DAT](INFO): DAT read: user:96> 2025-09-20T19:38:14.517Z,1758397094.517 [DAT](INFO): DAT read: Tx time:19:38:17.1575 2025-09-20T19:38:14.517Z,1758397094.517 [DAT](INFO): Ping request sent. 2025-09-20T19:38:14.517Z,1758397094.517 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:38:14.517Z,1758397094.517 [DAT](INFO): publishing transmit ping time 2025-09-20T19:38:14.518Z,1758397094.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-09-20T19:38:14.768Z,1758397094.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251000 2025-09-20T19:38:15.020Z,1758397095.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503167 2025-09-20T19:38:15.272Z,1758397095.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754947 2025-09-20T19:38:15.524Z,1758397095.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006821 2025-09-20T19:38:15.776Z,1758397095.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259167 2025-09-20T19:38:16.050Z,1758397096.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.533012 2025-09-20T19:38:16.300Z,1758397096.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.782877 2025-09-20T19:38:16.552Z,1758397096.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.035110 2025-09-20T19:38:16.805Z,1758397096.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.287541 2025-09-20T19:38:17.056Z,1758397097.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.538875 2025-09-20T19:38:17.308Z,1758397097.308 [DAT](INFO): DAT read: Rx Time:19:38:19.5685 2025-09-20T19:38:17.309Z,1758397097.309 [DAT](INFO): Rx dataTimestamp_ set to:1758397097.308268 2025-09-20T19:38:17.309Z,1758397097.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.792050 2025-09-20T19:38:17.560Z,1758397097.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042921 2025-09-20T19:38:17.814Z,1758397097.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296661 2025-09-20T19:38:18.079Z,1758397098.079 [DAT](INFO): DAT read: 19:38:19.5685 LVL= 32752, 21553, 24130, 32211, AGC= 56, IDX= 418, 0.18,-2.976, 2.206, 2.585,-2.101, PHS=-0.772,-1.931,-1.641, RAW= 103.9, 55.8, CAL= 102.4, 60.4, ROT= 47.6, -60.4 2025-09-20T19:38:18.081Z,1758397098.081 [DAT](INFO): got valid direction response: 19:38:19.5685 LVL= 32752, 21553, 24130, 32211, AGC= 56, IDX= 418, 0.18,-2.976, 2.206, 2.585,-2.101, PHS=-0.772,-1.931,-1.641, RAW= 103.9, 55.8, CAL= 102.4, 60.4, ROT= 47.6, -60.4 2025-09-20T19:38:18.082Z,1758397098.082 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (Round-trip 6.9 ms) speed 0.0 m/s 2025-09-20T19:38:18.096Z,1758397098.096 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:38:18.097Z,1758397098.097 [DAT](INFO): direction in FSK: [0.333066,0.364754,0.869495] 2025-09-20T19:38:18.097Z,1758397098.097 [DAT](INFO): publishing direction and range info 2025-09-20T19:38:18.852Z,1758397098.852 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-09-20T19:38:19.072Z,1758397099.072 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:38:19.072Z,1758397099.072 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:38:19.072Z,1758397099.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:38:19.324Z,1758397099.324 [DAT](INFO): DAT read: user:97> 2025-09-20T19:38:19.325Z,1758397099.325 [DAT](INFO): DAT read: Tx time:19:38:21.9575 2025-09-20T19:38:19.325Z,1758397099.325 [DAT](INFO): Ping request sent. 2025-09-20T19:38:19.325Z,1758397099.325 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:38:19.325Z,1758397099.325 [DAT](INFO): publishing transmit ping time 2025-09-20T19:38:19.326Z,1758397099.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-09-20T19:38:19.576Z,1758397099.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251167 2025-09-20T19:38:19.828Z,1758397099.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503032 2025-09-20T19:38:20.080Z,1758397100.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755314 2025-09-20T19:38:20.332Z,1758397100.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007237 2025-09-20T19:38:20.584Z,1758397100.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259108 2025-09-20T19:38:20.836Z,1758397100.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511075 2025-09-20T19:38:21.088Z,1758397101.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763274 2025-09-20T19:38:21.340Z,1758397101.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015061 2025-09-20T19:38:21.592Z,1758397101.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267002 2025-09-20T19:38:21.844Z,1758397101.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519308 2025-09-20T19:38:22.097Z,1758397102.097 [DAT](INFO): DAT read: Rx Time:19:38:24.3681 2025-09-20T19:38:22.097Z,1758397102.097 [DAT](INFO): Rx dataTimestamp_ set to:1758397102.096885 2025-09-20T19:38:22.098Z,1758397102.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773079 2025-09-20T19:38:22.348Z,1758397102.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022996 2025-09-20T19:38:22.600Z,1758397102.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275230 2025-09-20T19:38:22.861Z,1758397102.861 [DAT](INFO): DAT read: 19:38:24.3681 LVL= 17712, 21105, 17586, 23603, AGC= 51, IDX= 431,-0.12, 1.241, 1.730, 1.369, 2.819, PHS=-1.476,-1.044,-1.494, RAW= 332.0, 72.7, CAL= 331.8, 74.4, ROT= 178.2, -74.4 2025-09-20T19:38:22.862Z,1758397102.862 [DAT](INFO): got valid direction response: 19:38:24.3681 LVL= 17712, 21105, 17586, 23603, AGC= 51, IDX= 431,-0.12, 1.241, 1.730, 1.369, 2.819, PHS=-1.476,-1.044,-1.494, RAW= 332.0, 72.7, CAL= 331.8, 74.4, ROT= 178.2, -74.4 2025-09-20T19:38:22.863Z,1758397102.863 [DAT](INFO): DAT read: Bearing 9.1, 4.3 (Local) 2025-09-20T19:38:22.863Z,1758397102.863 [DAT](INFO): Local bearing/azimuth received: Bearing 9.1, 4.3 (Local) 2025-09-20T19:38:22.864Z,1758397102.864 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (Round-trip 6.5 ms) speed -0.1 m/s 2025-09-20T19:38:22.865Z,1758397102.865 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:38:22.866Z,1758397102.866 [DAT](INFO): direction in FSK: [-0.268787,0.008447,0.963163] 2025-09-20T19:38:22.866Z,1758397102.866 [DAT](INFO): publishing direction and range info 2025-09-20T19:38:28.937Z,1758397108.937 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-09-20T19:38:29.152Z,1758397109.152 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:38:29.152Z,1758397109.152 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:38:29.152Z,1758397109.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:38:29.404Z,1758397109.404 [DAT](INFO): DAT read: user:98> 2025-09-20T19:38:29.405Z,1758397109.405 [DAT](INFO): DAT read: Tx time:19:38:32.0075 2025-09-20T19:38:29.405Z,1758397109.405 [DAT](INFO): Ping request sent. 2025-09-20T19:38:29.405Z,1758397109.405 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:38:29.405Z,1758397109.405 [DAT](INFO): publishing transmit ping time 2025-09-20T19:38:29.406Z,1758397109.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718 2025-09-20T19:38:29.656Z,1758397109.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250675 2025-09-20T19:38:29.908Z,1758397109.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502618 2025-09-20T19:38:30.160Z,1758397110.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754994 2025-09-20T19:38:30.412Z,1758397110.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006714 2025-09-20T19:38:30.664Z,1758397110.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258689 2025-09-20T19:38:30.916Z,1758397110.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853 2025-09-20T19:38:31.168Z,1758397111.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762745 2025-09-20T19:38:31.420Z,1758397111.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014665 2025-09-20T19:38:31.672Z,1758397111.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266910 2025-09-20T19:38:31.927Z,1758397111.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520927 2025-09-20T19:38:32.176Z,1758397112.176 [DAT](INFO): DAT read: Rx Time:19:38:34.4197 2025-09-20T19:38:32.177Z,1758397112.177 [DAT](INFO): Rx dataTimestamp_ set to:1758397112.176239 2025-09-20T19:38:32.177Z,1758397112.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771805 2025-09-20T19:38:32.428Z,1758397112.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022929 2025-09-20T19:38:32.682Z,1758397112.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276712 2025-09-20T19:38:32.937Z,1758397112.937 [DAT](INFO): DAT read: 19:38:34.4197 LVL= 13344, 20865, 28338, 25283, AGC= 50, IDX= 446, 0.13,-1.510,-2.970,-1.183,-0.841, PHS=-0.567,-2.085,-0.386, RAW= 155.6, 33.6, CAL= 159.2, 45.6, ROT= 350.8, -45.6 2025-09-20T19:38:32.938Z,1758397112.938 [DAT](INFO): got valid direction response: 19:38:34.4197 LVL= 13344, 20865, 28338, 25283, AGC= 50, IDX= 446, 0.13,-1.510,-2.970,-1.183,-0.841, PHS=-0.567,-2.085,-0.386, RAW= 155.6, 33.6, CAL= 159.2, 45.6, ROT= 350.8, -45.6 2025-09-20T19:38:32.939Z,1758397112.939 [DAT](INFO): DAT read: Bearing 307.9, -1.8 (Local) 2025-09-20T19:38:32.939Z,1758397112.939 [DAT](INFO): Local bearing/azimuth received: Bearing 307.9, -1.8 (Local) 2025-09-20T19:38:32.941Z,1758397112.941 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (Round-trip 8.1 ms) speed -0.1 m/s 2025-09-20T19:38:32.941Z,1758397112.941 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:38:32.942Z,1758397112.942 [DAT](INFO): direction in FSK: [0.690663,-0.111863,0.714473] 2025-09-20T19:38:32.942Z,1758397112.942 [DAT](INFO): publishing direction and range info 2025-09-20T19:38:39.060Z,1758397119.060 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-09-20T19:38:39.264Z,1758397119.264 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:38:39.264Z,1758397119.264 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:38:39.264Z,1758397119.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:38:39.516Z,1758397119.516 [DAT](INFO): DAT read: user:99> 2025-09-20T19:38:39.517Z,1758397119.517 [DAT](INFO): DAT read: Tx time:19:38:42.1575 2025-09-20T19:38:39.517Z,1758397119.517 [DAT](INFO): Ping request sent. 2025-09-20T19:38:39.517Z,1758397119.517 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:38:39.517Z,1758397119.517 [DAT](INFO): publishing transmit ping time 2025-09-20T19:38:39.518Z,1758397119.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-09-20T19:38:39.768Z,1758397119.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250698 2025-09-20T19:38:40.024Z,1758397120.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505813 2025-09-20T19:38:40.272Z,1758397120.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754711 2025-09-20T19:38:40.524Z,1758397120.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006691 2025-09-20T19:38:40.776Z,1758397120.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258870 2025-09-20T19:38:41.031Z,1758397121.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512850 2025-09-20T19:38:41.280Z,1758397121.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762693 2025-09-20T19:38:41.532Z,1758397121.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014569 2025-09-20T19:38:41.785Z,1758397121.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267217 2025-09-20T19:38:42.039Z,1758397122.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521096 2025-09-20T19:38:42.288Z,1758397122.288 [DAT](INFO): DAT read: Rx Time:19:38:44.5713 2025-09-20T19:38:42.289Z,1758397122.289 [DAT](INFO): Rx dataTimestamp_ set to:1758397122.288620 2025-09-20T19:38:42.289Z,1758397122.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772158 2025-09-20T19:38:42.540Z,1758397122.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022690 2025-09-20T19:38:42.793Z,1758397122.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275386 2025-09-20T19:38:43.083Z,1758397123.083 [DAT](INFO): DAT read: 19:38:44.5713 LVL= 20880, 31505, 32754, 24691, AGC= 55, IDX= 446,-0.07, 1.362,-0.519, 1.654, 1.457, PHS= 0.007,-1.930, 0.154, RAW= 153.6, 17.3, CAL= 154.4, 19.7, ROT= 355.6, -19.7 2025-09-20T19:38:43.084Z,1758397123.084 [DAT](INFO): got valid direction response: 19:38:44.5713 LVL= 20880, 31505, 32754, 24691, AGC= 55, IDX= 446,-0.07, 1.362,-0.519, 1.654, 1.457, PHS= 0.007,-1.930, 0.154, RAW= 153.6, 17.3, CAL= 154.4, 19.7, ROT= 355.6, -19.7 2025-09-20T19:38:43.085Z,1758397123.085 [DAT](INFO): DAT read: Bearing 281.1, -2.3 (Local) 2025-09-20T19:38:43.085Z,1758397123.085 [DAT](INFO): Local bearing/azimuth received: Bearing 281.1, -2.3 (Local) 2025-09-20T19:38:43.086Z,1758397123.086 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (Round-trip 9.7 ms) speed -0.1 m/s 2025-09-20T19:38:43.095Z,1758397123.095 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:38:43.096Z,1758397123.096 [DAT](INFO): direction in FSK: [0.938696,-0.072229,0.337095] 2025-09-20T19:38:43.097Z,1758397123.097 [DAT](INFO): publishing direction and range info 2025-09-20T19:38:43.160Z,1758397123.160 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2025-09-20T19:38:46.287Z,1758397126.287 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032723263194,35.0, +11.2, 0.0,149 2025-09-20T19:38:49.180Z,1758397129.180 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-09-20T19:38:49.348Z,1758397129.348 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:38:49.348Z,1758397129.348 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:38:49.348Z,1758397129.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:38:49.600Z,1758397129.600 [DAT](INFO): DAT read: user:100> 2025-09-20T19:38:49.601Z,1758397129.601 [DAT](INFO): DAT read: Tx time:19:38:52.2575 2025-09-20T19:38:49.601Z,1758397129.601 [DAT](INFO): Ping request sent. 2025-09-20T19:38:49.601Z,1758397129.601 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:38:49.601Z,1758397129.601 [DAT](INFO): publishing transmit ping time 2025-09-20T19:38:49.602Z,1758397129.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-09-20T19:38:49.852Z,1758397129.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250965 2025-09-20T19:38:50.104Z,1758397130.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502878 2025-09-20T19:38:50.356Z,1758397130.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755225 2025-09-20T19:38:50.608Z,1758397130.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006937 2025-09-20T19:38:50.860Z,1758397130.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258925 2025-09-20T19:38:51.112Z,1758397131.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511073 2025-09-20T19:38:51.364Z,1758397131.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846 2025-09-20T19:38:51.616Z,1758397131.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015012 2025-09-20T19:38:51.868Z,1758397131.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267144 2025-09-20T19:38:52.120Z,1758397132.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518985 2025-09-20T19:38:52.372Z,1758397132.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770781 2025-09-20T19:38:52.624Z,1758397132.624 [DAT](INFO): DAT read: Rx Time:19:38:54.6728 2025-09-20T19:38:52.625Z,1758397132.625 [DAT](INFO): Rx dataTimestamp_ set to:1758397132.624385 2025-09-20T19:38:52.625Z,1758397132.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024161 2025-09-20T19:38:52.876Z,1758397132.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274892 2025-09-20T19:38:53.129Z,1758397133.129 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (Round-trip 11.3 ms) speed 0.1 m/s 2025-09-20T19:38:53.129Z,1758397133.129 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-09-20T19:38:59.225Z,1758397139.225 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-09-20T19:38:59.436Z,1758397139.436 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:38:59.436Z,1758397139.436 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:38:59.436Z,1758397139.436 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:38:59.689Z,1758397139.689 [DAT](INFO): DAT read: user:101> 2025-09-20T19:38:59.690Z,1758397139.690 [DAT](INFO): DAT read: Tx time:19:39:02.3074 2025-09-20T19:38:59.691Z,1758397139.691 [DAT](INFO): Ping request sent. 2025-09-20T19:38:59.692Z,1758397139.692 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:38:59.693Z,1758397139.693 [DAT](INFO): publishing transmit ping time 2025-09-20T19:38:59.696Z,1758397139.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004345 2025-09-20T19:38:59.940Z,1758397139.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249655 2025-09-20T19:39:00.192Z,1758397140.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501494 2025-09-20T19:39:00.444Z,1758397140.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753550 2025-09-20T19:39:00.696Z,1758397140.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005718 2025-09-20T19:39:00.948Z,1758397140.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257553 2025-09-20T19:39:01.201Z,1758397141.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510636 2025-09-20T19:39:01.452Z,1758397141.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761719 2025-09-20T19:39:01.704Z,1758397141.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013707 2025-09-20T19:39:01.956Z,1758397141.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265434 2025-09-20T19:39:02.208Z,1758397142.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517420 2025-09-20T19:39:02.460Z,1758397142.460 [DAT](INFO): DAT read: Rx Time:19:39:04.7242 2025-09-20T19:39:02.461Z,1758397142.461 [DAT](INFO): Rx dataTimestamp_ set to:1758397142.460342 2025-09-20T19:39:02.461Z,1758397142.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770686 2025-09-20T19:39:02.712Z,1758397142.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021614 2025-09-20T19:39:02.968Z,1758397142.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276763 2025-09-20T19:39:03.221Z,1758397143.221 [DAT](INFO): DAT read: 19:39:04.7242 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 461,-0.29,-2.181, 2.045, 2.936,-2.739, PHS= 0.660,-1.454,-0.652, RAW= 112.1, 15.5, CAL= 113.5, 17.5, ROT= 36.5, -17.5 2025-09-20T19:39:03.222Z,1758397143.222 [DAT](INFO): got valid direction response: 19:39:04.7242 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 461,-0.29,-2.181, 2.045, 2.936,-2.739, PHS= 0.660,-1.454,-0.652, RAW= 112.1, 15.5, CAL= 113.5, 17.5, ROT= 36.5, -17.5 2025-09-20T19:39:03.231Z,1758397143.231 [DAT](INFO): DAT read: Bearing 278.8, 37.8 (Local) 2025-09-20T19:39:03.232Z,1758397143.232 [DAT](INFO): Local bearing/azimuth received: Bearing 278.8, 37.8 (Local) 2025-09-20T19:39:03.233Z,1758397143.233 [DAT](INFO): DAT read: Range 11 to 50 : 9.4 m (Round-trip 12.6 ms) speed -0.1 m/s 2025-09-20T19:39:03.234Z,1758397143.234 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:39:03.235Z,1758397143.235 [DAT](INFO): direction in FSK: [0.766652,0.567293,0.300706] 2025-09-20T19:39:03.239Z,1758397143.239 [DAT](INFO): publishing direction and range info 2025-09-20T19:39:03.312Z,1758397143.312 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 9.40 m. Transitioning docking module to standby. 2025-09-20T19:39:03.683Z,1758397143.683 [DockingStepper](INFO): Changing to mode: 1 2025-09-20T19:39:09.317Z,1758397149.317 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-09-20T19:39:09.516Z,1758397149.516 [DAT](INFO): ****** received valid address query ****** 2025-09-20T19:39:09.516Z,1758397149.516 [DAT](INFO): ****** received valid ping request ****** 2025-09-20T19:39:09.516Z,1758397149.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:39:09.754Z,1758397149.754 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2025-09-20T19:39:09.768Z,1758397149.768 [DAT](INFO): DAT read: user:102> 2025-09-20T19:39:09.769Z,1758397149.769 [DAT](INFO): DAT read: Tx time:19:39:12.4074 2025-09-20T19:39:09.769Z,1758397149.769 [DAT](INFO): Ping request sent. 2025-09-20T19:39:09.769Z,1758397149.769 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:39:09.770Z,1758397149.770 [DAT](INFO): publishing transmit ping time 2025-09-20T19:39:09.770Z,1758397149.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720 2025-09-20T19:39:10.020Z,1758397150.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250555 2025-09-20T19:39:10.127Z,1758397150.127 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-09-20T19:39:10.127Z,1758397150.127 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2025-09-20T19:39:10.128Z,1758397150.128 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2025-09-20T19:39:10.128Z,1758397150.128 [DefaultWithUndock:LeaveDock] Stopped 2025-09-20T19:39:10.128Z,1758397150.128 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2025-09-20T19:39:10.128Z,1758397150.128 [DefaultWithUndock:LeaveDock:A.] Stopped 2025-09-20T19:39:10.128Z,1758397150.128 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2025-09-20T19:39:10.128Z,1758397150.128 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2025-09-20T19:39:10.129Z,1758397150.129 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2025-09-20T19:39:10.129Z,1758397150.129 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2025-09-20T19:39:10.129Z,1758397150.129 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-09-20T19:39:10.129Z,1758397150.129 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-09-20T19:39:10.129Z,1758397150.129 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-09-20T19:39:10.130Z,1758397150.130 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-09-20T19:39:10.130Z,1758397150.130 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-09-20T19:39:10.130Z,1758397150.130 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-09-20T19:39:10.131Z,1758397150.131 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-09-20T19:39:10.272Z,1758397150.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502543 2025-09-20T19:39:10.524Z,1758397150.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754910 2025-09-20T19:39:10.776Z,1758397150.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893 2025-09-20T19:39:10.928Z,1758397150.928 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (1 active estimators). 2025-09-20T19:39:11.028Z,1758397151.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258503 2025-09-20T19:39:11.127Z,1758397151.127 [Radio_Surface](INFO): Powering up 2025-09-20T19:39:11.280Z,1758397151.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510795 2025-09-20T19:39:11.532Z,1758397151.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762548 2025-09-20T19:39:11.785Z,1758397151.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015319 2025-09-20T19:39:12.036Z,1758397152.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267044 2025-09-20T19:39:12.288Z,1758397152.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518533 2025-09-20T19:39:12.540Z,1758397152.540 [DAT](INFO): DAT read: Rx Time:19:39:14.8252 2025-09-20T19:39:12.541Z,1758397152.541 [DAT](INFO): Rx dataTimestamp_ set to:1758397152.540304 2025-09-20T19:39:12.541Z,1758397152.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771715 2025-09-20T19:39:12.792Z,1758397152.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022798 2025-09-20T19:39:13.044Z,1758397153.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274537 2025-09-20T19:39:13.301Z,1758397153.301 [DAT](INFO): DAT read: 19:39:14.8252 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 442, 0.01,-2.556, 1.558, 2.917,-2.964, PHS= 0.510,-1.716,-0.446, RAW= 124.6, 16.8, CAL= 124.3, 18.0, ROT= 25.7, -18.0 2025-09-20T19:39:13.302Z,1758397153.302 [DAT](INFO): got valid direction response: 19:39:14.8252 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 442, 0.01,-2.556, 1.558, 2.917,-2.964, PHS= 0.510,-1.716,-0.446, RAW= 124.6, 16.8, CAL= 124.3, 18.0, ROT= 25.7, -18.0 2025-09-20T19:39:13.303Z,1758397153.303 [DAT](INFO): DAT read: Bearing 277.5, 26.8 (Local) 2025-09-20T19:39:13.303Z,1758397153.303 [DAT](INFO): Local bearing/azimuth received: Bearing 277.5, 26.8 (Local) 2025-09-20T19:39:13.305Z,1758397153.305 [DAT](INFO): DAT read: Range 11 to 50 : 10.3 m (Round-trip 13.8 ms) speed -0.1 m/s 2025-09-20T19:39:13.319Z,1758397153.319 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:39:13.320Z,1758397153.320 [DAT](INFO): direction in FSK: [0.856975,0.412434,0.309017] 2025-09-20T19:39:13.321Z,1758397153.321 [DAT](INFO): publishing direction and range info 2025-09-20T19:39:16.379Z,1758397156.379 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-09-20T19:39:16.380Z,1758397156.380 [Radio_Surface](INFO): No local IP found 2025-09-20T19:40:06.332Z,1758397206.332 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032723275211,35.0, +11.2, 0.0,1494.2RA, 0.00, 330.46, 310.06, 228.47, 0.00 2025-09-20T19:40:23.376Z,1758397223.376 [BuoyancyServo](ERROR): getPosition uart error serial timeout 2025-09-20T19:40:23.376Z,1758397223.376 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-09-20T19:40:23.376Z,1758397223.376 [BuoyancyServo] Communications Fault, FailCount= 1 2025-09-20T19:40:23.376Z,1758397223.376 [BuoyancyServo](ERROR): Communications Fault 2025-09-20T19:40:23.455Z,1758397223.455 [CBIT](ERROR): Communications Fault in component: BuoyancyServo 2025-09-20T19:40:25.272Z,1758397225.272 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2025-09-20T19:40:25.273Z,1758397225.273 [BuoyancyServo](INFO): Powering down 2025-09-20T19:40:26.098Z,1758397226.098 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2025-09-20T19:40:26.098Z,1758397226.098 [BuoyancyServo] No Fault, FailCount= 1 2025-09-20T19:40:26.498Z,1758397226.498 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2025-09-20T19:40:26.499Z,1758397226.499 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2025-09-20T19:40:45.573Z,1758397245.573 [DAT](INFO): DAT read: user:103>Rx Time:19:40:47.6525 2025-09-20T19:40:45.573Z,1758397245.573 [DAT](INFO): Rx dataTimestamp_ set to:1758397245.573036 2025-09-20T19:40:46.080Z,1758397246.080 [DAT](INFO): DAT read: 19:40:47.6525 LVL= 32752, 32753, 32754, 31875, AGC= 70, IDX= 227, 0.16, 2.531,-2.298, 1.779,-3.070, PHS=-0.581, 0.816,-1.479, RAW= 352.9, 12.4, CAL= 353.2, 14.8, ROT= 156.8, -14.8 2025-09-20T19:40:46.081Z,1758397246.081 [DAT](INFO): got valid direction response: 19:40:47.6525 LVL= 32752, 32753, 32754, 31875, AGC= 70, IDX= 227, 0.16, 2.531,-2.298, 1.779,-3.070, PHS=-0.581, 0.816,-1.479, RAW= 352.9, 12.4, CAL= 353.2, 14.8, ROT= 156.8, -14.8 2025-09-20T19:40:46.081Z,1758397246.081 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-09-20T19:40:46.082Z,1758397246.082 [DAT](INFO): direction in FSK: [-0.888642,0.380872,0.255446] 2025-09-20T19:40:46.328Z,1758397246.328 [DAT](INFO): DAT read: 2025-09-20T19:40:46.329Z,1758397246.329 [DAT](INFO): DAT read: DATA(0005):stop 2025-09-20T19:40:46.329Z,1758397246.329 [DAT](INFO): Got DATA 5 2025-09-20T19:40:46.329Z,1758397246.329 [DAT](INFO): DAT read: 2025-09-20T19:40:46.330Z,1758397246.330 [DAT](INFO): DAT read: Source:050 Destination:011 2025-09-20T19:40:46.330Z,1758397246.330 [DAT](INFO): Got Src/Dest after DATA 2025-09-20T19:40:46.330Z,1758397246.330 [DAT](INFO): DATA Src=50, Dst=11 2025-09-20T19:40:46.332Z,1758397246.332 [DAT](INFO): DAT read: CRC:Pass MPD:33.7 PSNR:10.5 AGC:69 SPD:-1.1 CCERR:008 2025-09-20T19:40:46.332Z,1758397246.332 [DAT](INFO): Got CRC:Pass 2025-09-20T19:40:46.333Z,1758397246.333 [DAT](INFO): Got CRC:Pass 2025-09-20T19:40:46.333Z,1758397246.333 [DAT](INFO): Incoming data is intended for us 2025-09-20T19:40:46.333Z,1758397246.333 [DAT](INFO): Received command: stop 2025-09-20T19:40:46.333Z,1758397246.333 [DAT](INFO): #Outgoing data=1 2025-09-20T19:40:46.333Z,1758397246.333 [DAT](INFO): Sending ack 2025-09-20T19:40:46.334Z,1758397246.334 [DAT](INFO): DAT read: 2025-09-20T19:40:46.334Z,1758397246.334 [DAT](INFO): DAT read: 2025-09-20T19:40:46.336Z,1758397246.336 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-09-20T19:40:46.344Z,1758397246.344 [CommandExec](IMPORTANT): got command stop 2025-09-20T19:40:46.580Z,1758397246.580 [DAT](INFO): setting remote address to 50 2025-09-20T19:40:46.832Z,1758397246.832 [DAT](INFO): DAT read: 2025-09-20T19:40:46.834Z,1758397246.834 [DAT](INFO): DAT read: RemoteAddr | 50 2025-09-20T19:40:46.834Z,1758397246.834 [DAT](INFO): set remote address to 50 2025-09-20T19:40:46.834Z,1758397246.834 [DAT](INFO): entering online mode 2025-09-20T19:40:47.084Z,1758397247.084 [DAT](INFO): DAT read: user:104> 2025-09-20T19:40:47.084Z,1758397247.084 [DAT](INFO): DAT read: 2025-09-20T19:40:47.086Z,1758397247.086 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-09-20T19:40:47.086Z,1758397247.086 [DAT](INFO): commRate: 600 2025-09-20T19:40:47.086Z,1758397247.086 [DAT](INFO): online mode acknowledged 2025-09-20T19:40:47.086Z,1758397247.086 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-09-20T19:40:50.361Z,1758397250.361 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:40:53.0558 2025-09-20T19:40:50.361Z,1758397250.361 [DAT](DEBUG): In parseResponses, sent ack so set commsState_ = SENDING_VERIFIED 2025-09-20T19:40:50.361Z,1758397250.361 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-09-20T19:41:27.512Z,1758397287.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:41:28.515Z,1758397288.515 [DataOverHttps](INFO): Radio surface powered ON. 2025-09-20T19:41:28.515Z,1758397288.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:41:30.737Z,1758397290.737 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032723291638,35.0, +0.0,1495.5, 0 2025-09-20T19:41:54.145Z,1758397314.145 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2025-09-20T19:41:54.145Z,1758397314.145 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-09-20T19:41:54.146Z,1758397314.146 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-09-20T19:41:58.648Z,1758397318.648 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:41:59.652Z,1758397319.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:42:29.772Z,1758397349.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:42:30.775Z,1758397350.775 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:42:58.283Z,1758397378.283 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002856 2025-09-20T19:42:59.284Z,1758397379.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:43:07.943Z,1758397387.943 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:43:16.527Z,1758397396.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:43:27.139Z,1758397407.139 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:43:35.780Z,1758397415.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:43:43.368Z,1758397423.368 [DataOverHttps](IMPORTANT): SBD MTMSN=20250920T194342 2025-09-20T19:43:50.987Z,1758397430.987 [DataOverHttps](INFO): Received command: schedule clear 2025-09-20T19:43:51.029Z,1758397431.029 [CommandExec](IMPORTANT): got command schedule clear 2025-09-20T19:43:51.029Z,1758397431.029 [CommandExec](IMPORTANT): Cleared 2 scheduled commands. 2025-09-20T19:43:52.991Z,1758397432.991 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:44:00.586Z,1758397440.586 [NAL9602](INFO): SBD MO Status=2, MOMSN=1938, MT Status=2, MTMSN=0 2025-09-20T19:44:00.586Z,1758397440.586 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-09-20T19:44:01.527Z,1758397441.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:44:10.403Z,1758397450.403 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:44:19.107Z,1758397459.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:44:26.813Z,1758397466.813 [DataOverHttps](IMPORTANT): SBD MTMSN=20250920T194425 2025-09-20T19:44:29.675Z,1758397469.675 [NAL9602](INFO): SBD MO Status=2, MOMSN=1938, MT Status=2, MTMSN=0 2025-09-20T19:44:29.676Z,1758397469.676 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-09-20T19:44:34.407Z,1758397474.407 [DataOverHttps](INFO): Received command: sched "load Transport/keepstation.tl;set keepstation.MissionTimeout 10 min;set keepstation.Radius 1000 m;run" 2025-09-20T19:44:34.422Z,1758397474.422 [CommandExec](IMPORTANT): got command schedule "load Transport/keepstation.tl;set keepstation.MissionTimeout 10 min;set keepstation.Radius 1000 m;run" 2025-09-20T19:44:34.422Z,1758397474.422 [CommandExec](IMPORTANT): Scheduled #5: "load Transport/keepstation.tl;set keepstation.MissionTimeout 10 min;set keepstation.Radius 1000 m;run", AFTER MISSION 2025-09-20T19:44:34.422Z,1758397474.422 [CommandExec](FAULT): Scheduling was paused by a command at 2025-09-20T19:40:46Z 2025-09-20T19:44:36.411Z,1758397476.411 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:44:44.161Z,1758397484.161 [DataOverHttps](IMPORTANT): SBD MTMSN=20250920T194443 2025-09-20T19:44:47.053Z,1758397487.053 [NAL9602](INFO): SBD MO Status=2, MOMSN=1938, MT Status=2, MTMSN=0 2025-09-20T19:44:47.053Z,1758397487.053 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-09-20T19:44:51.783Z,1758397491.783 [DataOverHttps](INFO): Received command: sched "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.2 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 2nyug 1 2 2025-09-20T19:44:51.869Z,1758397491.869 [CommandExec](IMPORTANT): got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.2 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 2nyug 1 2.000000 2025-09-20T19:44:51.869Z,1758397491.869 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2nyug 2025-09-20T19:44:51.870Z,1758397491.870 [CommandExec](IMPORTANT): Scheduled #6 (#1 of 2 with id='2nyug'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.2 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m", AFTER MISSION 2025-09-20T19:44:51.870Z,1758397491.870 [CommandExec](FAULT): Scheduling was paused by a command at 2025-09-20T19:40:46Z 2025-09-20T19:44:52.785Z,1758397492.785 [DataOverHttps](IMPORTANT): SBD MTMSN=20250920T194451 2025-09-20T19:45:00.379Z,1758397500.379 [DataOverHttps](INFO): Received command: sched "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 2nyug 2 2 2025-09-20T19:45:00.408Z,1758397500.408 [CommandExec](IMPORTANT): got command schedule "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 2nyug 2 2.000000 2025-09-20T19:45:00.409Z,1758397500.409 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2nyug 2025-09-20T19:45:00.410Z,1758397500.410 [CommandExec](IMPORTANT): Scheduled #7 (#2 of 2 with id='2nyug'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", AFTER MISSION 2025-09-20T19:45:00.410Z,1758397500.410 [CommandExec](FAULT): Scheduling was paused by a command at 2025-09-20T19:40:46Z 2025-09-20T19:45:01.381Z,1758397501.381 [DataOverHttps](IMPORTANT): SBD MTMSN=20250920T194500 2025-09-20T19:45:11.290Z,1758397511.290 [NAL9602](INFO): SBD MO Status=0, MOMSN=1938, MT Status=0, MTMSN=0 2025-09-20T19:45:11.290Z,1758397511.290 [NAL9602](INFO): No messages in MT queue 2025-09-20T19:45:12.510Z,1758397512.510 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194511.00,A,3646.73962,N,12151.57999,W,0.467,84.57,200925,,,A*41 2025-09-20T19:45:12.513Z,1758397512.513 [NAL9602](INFO): GPS fix at 20250920T194511: (36.778994, -121.859667) 2025-09-20T19:45:12.532Z,1758397512.532 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-09-20T19:45:12.533Z,1758397512.533 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-09-20T19:45:15.724Z,1758397515.724 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250920T191909/Courier0010.lzma 2025-09-20T19:45:15.726Z,1758397515.726 [DataOverHttps](INFO): Received command: sched "load Engineering/OnDock.tl;set OnDock.DockedTime 10 min;set OnDock.RangeTimeout 20 min;set OnDock.StayOnDock 1 bool;set OnDock.RunScience 1 bool;run" 2025-09-20T19:45:15.824Z,1758397515.824 [CommandExec](IMPORTANT): got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 10 min;set OnDock.RangeTimeout 20 min;set OnDock.StayOnDock 1 bool;set OnDock.RunScience 1 bool;run" 2025-09-20T19:45:15.825Z,1758397515.825 [CommandExec](IMPORTANT): Scheduled #8: "load Engineering/OnDock.tl;set OnDock.DockedTime 10 min;set OnDock.RangeTimeout 20 min;set OnDock.StayOnDock 1 bool;set OnDock.RunScience 1 bool;run", AFTER MISSION 2025-09-20T19:45:15.825Z,1758397515.825 [CommandExec](FAULT): Scheduling was paused by a command at 2025-09-20T19:40:46Z 2025-09-20T19:45:16.629Z,1758397516.629 [DataOverHttps](INFO): Moved sent file to Logs/20250920T191909/Courier0010.lzma.bak 2025-09-20T19:45:16.630Z,1758397516.630 [DataOverHttps](IMPORTANT): SBD MOMSN=26048002, MTMSN=20250920T194515 2025-09-20T19:45:24.019Z,1758397524.019 [DataOverHttps](INFO): Received command: sched "load Science/sample_on_dock.tl;set sample_on_dock.DockedTime 36 h;set sample_on_dock.DetachedTimeout 20 min;run" 2025-09-20T19:45:24.102Z,1758397524.102 [CommandExec](IMPORTANT): got command schedule "load Science/sample_on_dock.tl;set sample_on_dock.DockedTime 36 h;set sample_on_dock.DetachedTimeout 20 min;run" 2025-09-20T19:45:24.111Z,1758397524.111 [CommandExec](IMPORTANT): Scheduled #9: "load Science/sample_on_dock.tl;set sample_on_dock.DockedTime 36 h;set sample_on_dock.DetachedTimeout 20 min;run", AFTER MISSION 2025-09-20T19:45:24.112Z,1758397524.112 [CommandExec](FAULT): Scheduling was paused by a command at 2025-09-20T19:40:46Z 2025-09-20T19:45:25.198Z,1758397525.198 [DataOverHttps](IMPORTANT): SBD MTMSN=20250920T194524 2025-09-20T19:45:32.739Z,1758397532.739 [DataOverHttps](INFO): Sending 194 bytes from file Logs/20250920T192654/Courier0000.lzma 2025-09-20T19:45:32.741Z,1758397532.741 [DataOverHttps](INFO): Received command: schedule resume 2025-09-20T19:45:32.777Z,1758397532.777 [CommandExec](IMPORTANT): got command schedule resume 2025-09-20T19:45:32.777Z,1758397532.777 [CommandExec](IMPORTANT): Scheduling is resumed 2025-09-20T19:45:32.906Z,1758397532.906 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl 2025-09-20T19:45:32.919Z,1758397532.919 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl 2025-09-20T19:45:32.919Z,1758397532.919 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl 2025-09-20T19:45:32.925Z,1758397532.925 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl 2025-09-20T19:45:34.091Z,1758397534.091 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Courier0000.lzma.bak 2025-09-20T19:45:34.091Z,1758397534.091 [DataOverHttps](INFO): SBD MOMSN=26048007 2025-09-20T19:45:35.110Z,1758397535.110 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into: 4 45 NaN NaN 30 15 4 0.75 200 10 10 45 2 0 0 1 2 3 NaN 0 Sinking to Timed out while trying to reach target sink depth at current depth of 2025-09-20T19:45:35.125Z,1758397535.125 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h 2025-09-20T19:45:35.128Z,1758397535.128 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min 2025-09-20T19:45:35.131Z,1758397535.131 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg 2025-09-20T19:45:35.135Z,1758397535.135 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg 2025-09-20T19:45:35.138Z,1758397535.138 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m 2025-09-20T19:45:35.141Z,1758397535.141 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m 2025-09-20T19:45:35.145Z,1758397535.145 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m 2025-09-20T19:45:35.148Z,1758397535.148 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s 2025-09-20T19:45:35.152Z,1758397535.152 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m 2025-09-20T19:45:35.154Z,1758397535.154 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool 2025-09-20T19:45:35.158Z,1758397535.158 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m 2025-09-20T19:45:35.161Z,1758397535.161 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min 2025-09-20T19:45:35.165Z,1758397535.165 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m 2025-09-20T19:45:35.192Z,1758397535.192 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km 2025-09-20T19:45:35.196Z,1758397535.196 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count 2025-09-20T19:45:35.203Z,1758397535.203 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count 2025-09-20T19:45:35.211Z,1758397535.211 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count 2025-09-20T19:45:35.214Z,1758397535.214 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count 2025-09-20T19:45:35.222Z,1758397535.222 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count 2025-09-20T19:45:35.225Z,1758397535.225 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool 2025-09-20T19:45:35.226Z,1758397535.226 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-09-20T19:45:35.226Z,1758397535.226 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-09-20T19:45:35.239Z,1758397535.239 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-09-20T19:45:35.628Z,1758397535.628 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-09-20T19:45:35.634Z,1758397535.634 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h 2025-09-20T19:45:35.638Z,1758397535.638 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min 2025-09-20T19:45:35.641Z,1758397535.641 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-09-20T19:45:35.644Z,1758397535.644 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s 2025-09-20T19:45:35.648Z,1758397535.648 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-09-20T19:45:35.651Z,1758397535.651 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s 2025-09-20T19:45:35.654Z,1758397535.654 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min 2025-09-20T19:45:35.658Z,1758397535.658 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min 2025-09-20T19:45:35.665Z,1758397535.665 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-09-20T19:45:35.767Z,1758397535.767 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:45:35.767Z,1758397535.767 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:45:35.768Z,1758397535.768 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:45:35.964Z,1758397535.964 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-09-20T19:45:35.973Z,1758397535.973 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m 2025-09-20T19:45:35.977Z,1758397535.977 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-09-20T19:45:35.989Z,1758397535.989 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m 2025-09-20T19:45:35.996Z,1758397535.996 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-09-20T19:45:35.997Z,1758397535.997 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-20T19:45:36.014Z,1758397536.014 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-20T19:45:36.033Z,1758397536.033 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-09-20T19:45:36.058Z,1758397536.058 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-09-20T19:45:36.058Z,1758397536.058 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-09-20T19:45:36.073Z,1758397536.073 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-09-20T19:45:36.112Z,1758397536.112 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-09-20T19:45:36.153Z,1758397536.153 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool 2025-09-20T19:45:36.165Z,1758397536.165 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-09-20T19:45:36.172Z,1758397536.172 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-09-20T19:45:36.172Z,1758397536.172 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-09-20T19:45:36.173Z,1758397536.173 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-09-20T19:45:36.388Z,1758397536.388 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-09-20T19:45:36.393Z,1758397536.393 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool 2025-09-20T19:45:36.396Z,1758397536.396 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool 2025-09-20T19:45:36.408Z,1758397536.408 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool 2025-09-20T19:45:36.412Z,1758397536.412 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool 2025-09-20T19:45:36.415Z,1758397536.415 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool 2025-09-20T19:45:36.445Z,1758397536.445 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-09-20T19:45:36.447Z,1758397536.447 [keepstation:H.Pitch](DEBUG): Construct. 2025-09-20T19:45:36.612Z,1758397536.612 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-20T19:45:36.621Z,1758397536.621 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct. 2025-09-20T19:45:36.630Z,1758397536.630 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct. 2025-09-20T19:45:36.719Z,1758397536.719 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-20T19:45:36.726Z,1758397536.726 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct. 2025-09-20T19:45:36.737Z,1758397536.737 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct. 2025-09-20T19:45:36.776Z,1758397536.776 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct. 2025-09-20T19:45:36.790Z,1758397536.790 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation. 2025-09-20T19:45:36.825Z,1758397536.825 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2025-09-20T19:45:36.870Z,1758397536.870 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait. 2025-09-20T19:45:36.970Z,1758397536.970 [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 keepstation { """ Vehicle transits to desired waypoint (or stays put if none is commanded) and stays within the specified radius. """ arguments { MissionTimeout = 4 hour """ Maximum duration of mission """ NeedCommsTime = 45 minute """ How often to surface for communications """ Latitude = NaN degree """ Latitude of waypoint to hold. If NaN, hold the latitude at start of mission. """ Longitude = NaN degree """ Longitude of waypoint to hold. If NaN, hold the longitude at start of mission. """ Depth = 30 meter """ Depth held during drift mode """ ApproachDepth = 15 meter """ Depth for initial approach to station. """ DepthDeadband = 4 meter """ How much vertical drift from the specified depth is allowed in drift mode """ Speed = 0.75 meter_per_second """ Vehicle transit speed. """ Radius = 200 meter """ Radius of circle around waypoint to hold. """ SinkOffSurface = false """ If true, use buoyancy only to decend to SinkDepth before driving to first target depth """ SinkDepth = 10 meter """ Initial depth to decend using only buoyancy before driving """ SinkDepthTimeout = 10 minute """ Max wait time for the vehicle to reach the target depth """ MaxDepth = 45 meter """ Maximum allowable depth during the mission. """ MinOffshore = 2 kilometer """ Minimum distance from the shoreline to maintain """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this mode when doing surface comms. """ SurfaceSink = 1 count """ Mission variable (don't change). The mission will run in this mode when sinking from the surface using only buoyancy. """ TransitToStation = 2 count """ Mission variable (don't change). The mission will run in this mode when performing the transit to station """ StationKeep = 3 count """ Mission variable (don't change). The mission will run in this mode when keeping station """ OnStation = false """ Mission variable (don't change). Determines last mode (Transit or StationKeep) to resume after needcomms """ } timeout duration=MissionTimeout insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms call priorityHere=false refId="NeedComms" aggregate HandleNan { run in sequence break if ( not isNaN ( Latitude ) and not isNaN ( Longitude ) ) # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true aggregate SetOnStation { run in sequence break if ( not isNaN ( Latitude ) or not isNaN ( Longitude ) ) assign in sequence OnStation = true } # The "assigns" here mean we should only ever run these aggregates once # An initial NaN lat/lon should be set here during the initial surface NeedComms call # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon aggregate SetLat { run in sequence break if ( not isNaN ( Latitude ) ) assign in sequence Latitude = Universal:latitude_fix } aggregate SetLon { run in sequence break if ( not isNaN ( Longitude ) ) assign in sequence Longitude = Universal:longitude_fix } } aggregate setTransit { run in sequence break if ( SinkOffSurface or OnStation ) assign in sequence DiveMode = TransitToStation } aggregate setStation { run in sequence break if ( SinkOffSurface or not OnStation ) assign in sequence DiveMode = StationKeep } aggregate setSink { run in sequence break if ( not SinkOffSurface ) assign in sequence DiveMode = SurfaceSink } } call id="StartingMission" priorityHere=false refId="SurfaceComms" aggregate DiveCmd { run when ( called ) aggregate SurfaceSink { run while ( DiveMode == SurfaceSink ) aggregate sink { run in sequence behavior Guidance:Buoyancy id="BuoyancyHold" { run in parallel set position = NaN cc } behavior Guidance:SetSpeed { run in parallel set speed = 0 m/s } syslog info "Sinking to " + SinkDepth~meter behavior Guidance:Pitch { run in sequence timeout duration=SinkDepthTimeout { syslog important "Timed out while trying to reach target sink depth at current depth of " + Universal:depth~meter } set depth = SinkDepth } # Once we've sunk, either resume transit or station keeping depths and speeds aggregate sinkToTransit { run in sequence break if ( OnStation ) assign in sequence DiveMode = TransitToStation } aggregate sinkToStation { run in sequence break if ( not OnStation ) assign in sequence DiveMode = StationKeep } } } aggregate TransitToStation { run while ( DiveMode == TransitToStation ) aggregate dive { run in sequence behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run in parallel set depth = ApproachDepth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } } } aggregate StationKeep { run while ( DiveMode == StationKeep ) assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:KeepStation { run in parallel set latitude = Latitude set longitude = Longitude set radius = Radius set speed = Speed } } } aggregate TransitToStation { """ Need a separate aggregate for transit if we want to specify a different depth for the approach. """ run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } behavior Guidance:Waypoint id="Wpt1" { run in sequence set latitude = Latitude set longitude = Longitude } assign in sequence DiveMode = StationKeep assign in sequence OnStation = true } call id="OnStation" priorityHere=false refId="NeedComms" aggregate KeepStation { run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } behavior Guidance:Wait { """ Due to the way the KeepStation behavior is currently implemented, we must run it in parallel and use a Wait to keep from completing the mission before the timeout expires. However, this new version of the mission uses a top-level timeout so that the entire mission will not run for longer then MissionTimeout. """ run in sequence set duration = MissionTimeout } } } 2025-09-20T19:45:36.983Z,1758397536.983 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation 2025-09-20T19:45:44.620Z,1758397544.620 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-20T19:45:49.011Z,1758397549.011 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 10 minute 2025-09-20T19:45:49.012Z,1758397549.012 [CommandExec](IMPORTANT): got command set keepstation.Radius 1000 meter 2025-09-20T19:45:49.012Z,1758397549.012 [CommandExec](IMPORTANT): got command run 2025-09-20T19:45:49.014Z,1758397549.014 [CommandExec](IMPORTANT): Running 2025-09-20T19:45:49.098Z,1758397549.098 [DefaultWithUndock] Stopped 2025-09-20T19:45:49.098Z,1758397549.098 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-09-20T19:45:49.099Z,1758397549.099 [DefaultWithUndock:SurfaceDefault] Stopped 2025-09-20T19:45:49.099Z,1758397549.099 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2025-09-20T19:45:49.103Z,1758397549.103 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped 2025-09-20T19:45:49.103Z,1758397549.103 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-09-20T19:45:49.103Z,1758397549.103 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-09-20T19:45:49.103Z,1758397549.103 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-09-20T19:45:49.103Z,1758397549.103 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-09-20T19:45:49.103Z,1758397549.103 [MissionManager](IMPORTANT): Started mission keepstation 2025-09-20T19:45:49.104Z,1758397549.104 [keepstation] Running Loop=1 2025-09-20T19:45:49.104Z,1758397549.104 [keepstation](DEBUG): Aggregate::initialize keepstation 2025-09-20T19:45:49.104Z,1758397549.104 [keepstation:StandardEnvelopes] Running Loop=1 2025-09-20T19:45:49.104Z,1758397549.104 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes 2025-09-20T19:45:49.104Z,1758397549.104 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-09-20T19:45:49.104Z,1758397549.104 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-09-20T19:45:49.104Z,1758397549.104 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-09-20T19:45:49.104Z,1758397549.104 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:BackseatDriver] Running Loop=1 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:PowerOnly] Running Loop=1 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:PowerOnly:A] Running Loop=1 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:PowerOnly:B] Running Loop=1 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:PowerOnly:C] Running Loop=1 2025-09-20T19:45:49.105Z,1758397549.105 [keepstation:PowerOnly:D] Running Loop=1 2025-09-20T19:45:49.106Z,1758397549.106 [keepstation:PowerOnly:E.Wait] Running Loop=1 2025-09-20T19:45:49.106Z,1758397549.106 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-09-20T19:45:49.106Z,1758397549.106 [keepstation:H.Pitch] Running Loop=1 2025-09-20T19:45:49.106Z,1758397549.106 [keepstation:H.Pitch](DEBUG): Initialize. 2025-09-20T19:45:49.106Z,1758397549.106 [keepstation:B] Running Loop=1 2025-09-20T19:45:49.111Z,1758397549.111 [keepstation:H.Pitch] Running Loop=1 2025-09-20T19:45:49.111Z,1758397549.111 [keepstation:PowerOnly] Running Loop=1 2025-09-20T19:45:49.112Z,1758397549.112 [keepstation:PowerOnly:D] Stopped 2025-09-20T19:45:49.112Z,1758397549.112 [keepstation:PowerOnly:C] Stopped 2025-09-20T19:45:49.112Z,1758397549.112 [keepstation:PowerOnly:B] Stopped 2025-09-20T19:45:49.112Z,1758397549.112 [keepstation:PowerOnly:A] Stopped 2025-09-20T19:45:49.112Z,1758397549.112 [keepstation:BackseatDriver] Running Loop=1 2025-09-20T19:45:49.112Z,1758397549.112 [keepstation:StandardEnvelopes] Running Loop=1 2025-09-20T19:45:49.112Z,1758397549.112 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-09-20T19:45:49.113Z,1758397549.113 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-09-20T19:45:49.113Z,1758397549.113 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-09-20T19:45:49.114Z,1758397549.114 [keepstation:B] Stopped 2025-09-20T19:45:49.114Z,1758397549.114 [keepstation:D] Running Loop=1 2025-09-20T19:45:49.489Z,1758397549.489 [keepstation:D] Stopped 2025-09-20T19:45:49.490Z,1758397549.490 [keepstation:E] Running Loop=1 2025-09-20T19:45:49.886Z,1758397549.886 [keepstation:E] Stopped 2025-09-20T19:45:49.886Z,1758397549.886 [keepstation:StartingMission] Running Loop=1 2025-09-20T19:45:49.886Z,1758397549.886 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission 2025-09-20T19:45:50.312Z,1758397550.312 [keepstation:SurfaceComms] Running Loop=1 2025-09-20T19:45:50.312Z,1758397550.312 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms 2025-09-20T19:45:50.312Z,1758397550.312 [keepstation:SurfaceComms:A] Running Loop=1 2025-09-20T19:45:50.313Z,1758397550.313 [keepstation:SurfaceComms:A] Stopped 2025-09-20T19:45:50.313Z,1758397550.313 [keepstation:SurfaceComms:B] Running Loop=1 2025-09-20T19:45:50.313Z,1758397550.313 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B 2025-09-20T19:45:50.830Z,1758397550.830 [keepstation:NeedComms] Running Loop=1 2025-09-20T19:45:50.830Z,1758397550.830 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms 2025-09-20T19:45:50.830Z,1758397550.830 [keepstation:NeedComms:B.GoToSurface] Running Loop=1 2025-09-20T19:45:50.831Z,1758397550.831 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-09-20T19:45:50.831Z,1758397550.831 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-09-20T19:45:50.831Z,1758397550.831 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-09-20T19:45:50.832Z,1758397550.832 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-09-20T19:45:50.832Z,1758397550.832 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2025-09-20T19:45:50.832Z,1758397550.832 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-09-20T19:45:50.833Z,1758397550.833 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-09-20T19:45:50.833Z,1758397550.833 [keepstation:NeedComms:A] Running Loop=1 2025-09-20T19:45:50.834Z,1758397550.834 [keepstation:NeedComms:A](INFO): last time_fix was: 1758397511.000000 second since 1970/01/01T00:00:00Z 2025-09-20T19:45:50.834Z,1758397550.834 [keepstation:NeedComms:A] Stopped 2025-09-20T19:45:51.106Z,1758397551.106 [keepstation:NeedComms:C] Running Loop=1 2025-09-20T19:45:51.522Z,1758397551.522 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-09-20T19:45:53.110Z,1758397553.110 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194552.00,A,3646.73936,N,12151.57335,W,0.428,120.97,200925,,,A*73 2025-09-20T19:45:53.112Z,1758397553.112 [NAL9602](INFO): GPS fix at 20250920T194552: (36.778989, -121.859556) 2025-09-20T19:45:53.138Z,1758397553.138 [keepstation:NeedComms:C] Stopped 2025-09-20T19:45:53.138Z,1758397553.138 [keepstation:NeedComms:D] Running Loop=1 2025-09-20T19:45:53.554Z,1758397553.554 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-09-20T19:45:55.179Z,1758397555.179 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20250920T192654/Courier0006.lzma 2025-09-20T19:45:56.181Z,1758397556.181 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Courier0006.lzma.bak 2025-09-20T19:45:56.181Z,1758397556.181 [DataOverHttps](INFO): SBD MOMSN=26048011 2025-09-20T19:46:08.125Z,1758397568.125 [NAL9602](INFO): SBD MO Status=0, MOMSN=1939, MT Status=0, MTMSN=0 2025-09-20T19:46:08.126Z,1758397568.126 [NAL9602](INFO): No messages in MT queue 2025-09-20T19:46:13.411Z,1758397573.411 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250920T192654/Courier0015.lzma 2025-09-20T19:46:14.413Z,1758397574.413 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Courier0015.lzma.bak 2025-09-20T19:46:14.413Z,1758397574.413 [DataOverHttps](INFO): SBD MOMSN=26048015 2025-09-20T19:46:31.411Z,1758397591.411 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250920T192654/Courier0018.lzma 2025-09-20T19:46:32.413Z,1758397592.413 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Courier0018.lzma.bak 2025-09-20T19:46:32.413Z,1758397592.413 [DataOverHttps](INFO): SBD MOMSN=26048017 2025-09-20T19:46:38.828Z,1758397598.828 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-20T19:46:49.735Z,1758397609.735 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250920T192654/Courier0021.lzma 2025-09-20T19:46:50.737Z,1758397610.737 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Courier0021.lzma.bak 2025-09-20T19:46:50.737Z,1758397610.737 [DataOverHttps](INFO): SBD MOMSN=26048020 2025-09-20T19:47:07.096Z,1758397627.096 [DataOverHttps](INFO): Sending 416 bytes from file Logs/20250920T191909/Express0011.lzma 2025-09-20T19:47:08.097Z,1758397628.097 [DataOverHttps](INFO): Moved sent file to Logs/20250920T191909/Express0011.lzma.bak 2025-09-20T19:47:08.097Z,1758397628.097 [DataOverHttps](INFO): SBD MOMSN=26048023 2025-09-20T19:47:24.381Z,1758397644.381 [DataOverHttps](INFO): Sending 603 bytes from file Logs/20250920T192654/Express0001.lzma 2025-09-20T19:47:25.381Z,1758397645.381 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0001.lzma.bak 2025-09-20T19:47:25.381Z,1758397645.381 [DataOverHttps](INFO): SBD MOMSN=26048026 2025-09-20T19:47:33.848Z,1758397653.848 [DAT](INFO): DAT read: Rx Time:19:47:36.0395 2025-09-20T19:47:33.848Z,1758397653.848 [DAT](INFO): Rx dataTimestamp_ set to:1758397653.847728 2025-09-20T19:47:34.348Z,1758397654.348 [DAT](INFO): DAT read: $Error in header 2025-09-20T19:47:34.348Z,1758397654.348 [DAT](INFO): Received a bad header 2025-09-20T19:47:37.026Z,1758397657.026 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032723350, +17.0, 0.0,1512.9, 0 0.00, 699.51, 771.52, 809.24, 672.08 2025-09-20T19:47:41.783Z,1758397661.783 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20250920T192654/Express0004.lzma 2025-09-20T19:47:42.785Z,1758397662.785 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0004.lzma.bak 2025-09-20T19:47:42.785Z,1758397662.785 [DataOverHttps](INFO): SBD MOMSN=26048029 2025-09-20T19:47:59.230Z,1758397679.230 [DataOverHttps](INFO): Sending 1441 bytes from file Logs/20250920T192654/Express0007.lzma 2025-09-20T19:48:00.229Z,1758397680.229 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0007.lzma.bak 2025-09-20T19:48:00.229Z,1758397680.229 [DataOverHttps](INFO): SBD MOMSN=26048033 2025-09-20T19:48:06.924Z,1758397686.924 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 696.08, 750.95, 720.52 2025-09-20T19:48:17.803Z,1758397697.803 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250920T192654/Express0010.lzma 2025-09-20T19:48:18.805Z,1758397698.805 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0010.lzma.bak 2025-09-20T19:48:18.805Z,1758397698.805 [DataOverHttps](INFO): SBD MOMSN=26048071 2025-09-20T19:48:26.770Z,1758397706.770 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -42, -315A 2025-09-20T19:48:34.935Z,1758397714.935 [DataOverHttps](INFO): Sending 256 bytes from file Logs/20250920T192654/Express0013.lzma 2025-09-20T19:48:35.937Z,1758397715.937 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0013.lzma.bak 2025-09-20T19:48:35.937Z,1758397715.937 [DataOverHttps](INFO): SBD MOMSN=26048073 2025-09-20T19:48:52.643Z,1758397732.643 [DataOverHttps](INFO): Sending 289 bytes from file Logs/20250920T192654/Express0016.lzma 2025-09-20T19:48:53.645Z,1758397733.645 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0016.lzma.bak 2025-09-20T19:48:53.645Z,1758397733.645 [DataOverHttps](INFO): SBD MOMSN=26048078 2025-09-20T19:49:06.807Z,1758397746.807 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +31.23271.85, +18.24, 72.40, 0.00 2025-09-20T19:49:10.063Z,1758397750.063 [DataOverHttps](INFO): Sending 188 bytes from file Logs/20250920T192654/Express0019.lzma 2025-09-20T19:49:11.065Z,1758397751.065 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0019.lzma.bak 2025-09-20T19:49:11.065Z,1758397751.065 [DataOverHttps](INFO): SBD MOMSN=26048084 2025-09-20T19:49:28.203Z,1758397768.203 [DataOverHttps](INFO): Sending 241 bytes from file Logs/20250920T192654/Express0022.lzma 2025-09-20T19:49:29.206Z,1758397769.206 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0022.lzma.bak 2025-09-20T19:49:29.206Z,1758397769.206 [DataOverHttps](INFO): SBD MOMSN=26048090 2025-09-20T19:49:30.550Z,1758397770.550 [keepstation:NeedComms:D] Stopped 2025-09-20T19:49:30.550Z,1758397770.550 [keepstation:NeedComms:E] Running Loop=1 2025-09-20T19:49:30.966Z,1758397770.966 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-09-20T19:49:32.554Z,1758397772.554 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194931.00,A,3646.74057,N,12151.54208,W,0.603,127.72,200925,,,A*78 2025-09-20T19:49:32.556Z,1758397772.556 [NAL9602](INFO): GPS fix at 20250920T194931: (36.779010, -121.859035) 2025-09-20T19:49:32.570Z,1758397772.570 [keepstation:NeedComms:E] Stopped 2025-09-20T19:49:32.570Z,1758397772.570 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms 2025-09-20T19:49:32.571Z,1758397772.571 [keepstation:NeedComms] Stopped 2025-09-20T19:49:32.571Z,1758397772.571 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms 2025-09-20T19:49:32.571Z,1758397772.571 [keepstation:NeedComms:B.GoToSurface] Stopped 2025-09-20T19:49:32.571Z,1758397772.571 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-09-20T19:49:33.004Z,1758397773.004 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B 2025-09-20T19:49:33.004Z,1758397773.004 [keepstation:SurfaceComms:B] Stopped 2025-09-20T19:49:33.005Z,1758397773.005 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B 2025-09-20T19:49:33.005Z,1758397773.005 [keepstation:SurfaceComms:HandleNan] Running Loop=1 2025-09-20T19:49:33.005Z,1758397773.005 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan 2025-09-20T19:49:33.005Z,1758397773.005 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1 2025-09-20T19:49:33.005Z,1758397773.005 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation 2025-09-20T19:49:33.006Z,1758397773.006 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1 2025-09-20T19:49:33.397Z,1758397773.397 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped 2025-09-20T19:49:33.397Z,1758397773.397 [keepstation:SurfaceComms:HandleNan:SetOnStation](INFO): Completed keepstation:SurfaceComms:HandleNan:SetOnStation 2025-09-20T19:49:33.397Z,1758397773.397 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped 2025-09-20T19:49:33.397Z,1758397773.397 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation 2025-09-20T19:49:33.397Z,1758397773.397 [keepstation:SurfaceComms:HandleNan:SetLat] Running Loop=1 2025-09-20T19:49:33.398Z,1758397773.398 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLat 2025-09-20T19:49:33.398Z,1758397773.398 [keepstation:SurfaceComms:HandleNan:SetLat:A] Running Loop=1 2025-09-20T19:49:33.828Z,1758397773.828 [keepstation:SurfaceComms:HandleNan:SetLat:A] Stopped 2025-09-20T19:49:33.828Z,1758397773.828 [keepstation:SurfaceComms:HandleNan:SetLat](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLat 2025-09-20T19:49:33.828Z,1758397773.828 [keepstation:SurfaceComms:HandleNan:SetLat] Stopped 2025-09-20T19:49:33.828Z,1758397773.828 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLat 2025-09-20T19:49:33.829Z,1758397773.829 [keepstation:SurfaceComms:HandleNan:SetLon] Running Loop=1 2025-09-20T19:49:33.829Z,1758397773.829 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLon 2025-09-20T19:49:33.829Z,1758397773.829 [keepstation:SurfaceComms:HandleNan:SetLon:A] Running Loop=1 2025-09-20T19:49:34.204Z,1758397774.204 [keepstation:SurfaceComms:HandleNan:SetLon:A] Stopped 2025-09-20T19:49:34.204Z,1758397774.204 [keepstation:SurfaceComms:HandleNan:SetLon](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLon 2025-09-20T19:49:34.204Z,1758397774.204 [keepstation:SurfaceComms:HandleNan:SetLon] Stopped 2025-09-20T19:49:34.204Z,1758397774.204 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLon 2025-09-20T19:49:34.205Z,1758397774.205 [keepstation:SurfaceComms:HandleNan](INFO): Completed keepstation:SurfaceComms:HandleNan 2025-09-20T19:49:34.205Z,1758397774.205 [keepstation:SurfaceComms:HandleNan] Stopped 2025-09-20T19:49:34.205Z,1758397774.205 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan 2025-09-20T19:49:34.205Z,1758397774.205 [keepstation:SurfaceComms:setTransit] Running Loop=1 2025-09-20T19:49:34.205Z,1758397774.205 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit 2025-09-20T19:49:34.205Z,1758397774.205 [keepstation:SurfaceComms:setTransit:A] Running Loop=1 2025-09-20T19:49:34.598Z,1758397774.598 [keepstation:SurfaceComms:setTransit] Stopped 2025-09-20T19:49:34.599Z,1758397774.599 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit 2025-09-20T19:49:34.599Z,1758397774.599 [keepstation:SurfaceComms:setTransit:A] Stopped 2025-09-20T19:49:34.603Z,1758397774.603 [keepstation:SurfaceComms:setStation] Running Loop=1 2025-09-20T19:49:34.603Z,1758397774.603 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation 2025-09-20T19:49:34.603Z,1758397774.603 [keepstation:SurfaceComms:setStation:A] Running Loop=1 2025-09-20T19:49:35.039Z,1758397775.039 [keepstation:SurfaceComms:setStation:A] Stopped 2025-09-20T19:49:35.039Z,1758397775.039 [keepstation:SurfaceComms:setStation](INFO): Completed keepstation:SurfaceComms:setStation 2025-09-20T19:49:35.039Z,1758397775.039 [keepstation:SurfaceComms:setStation] Stopped 2025-09-20T19:49:35.039Z,1758397775.039 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation 2025-09-20T19:49:35.039Z,1758397775.039 [keepstation:SurfaceComms:setSink] Running Loop=1 2025-09-20T19:49:35.040Z,1758397775.040 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink 2025-09-20T19:49:35.040Z,1758397775.040 [keepstation:SurfaceComms:setSink:A] Running Loop=1 2025-09-20T19:49:35.401Z,1758397775.401 [keepstation:SurfaceComms:setSink] Stopped 2025-09-20T19:49:35.401Z,1758397775.401 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink 2025-09-20T19:49:35.401Z,1758397775.401 [keepstation:SurfaceComms:setSink:A] Stopped 2025-09-20T19:49:35.401Z,1758397775.401 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms 2025-09-20T19:49:35.401Z,1758397775.401 [keepstation:SurfaceComms] Stopped 2025-09-20T19:49:35.401Z,1758397775.401 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms 2025-09-20T19:49:35.809Z,1758397775.809 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission 2025-09-20T19:49:35.809Z,1758397775.809 [keepstation:StartingMission] Stopped 2025-09-20T19:49:35.809Z,1758397775.809 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission 2025-09-20T19:49:35.809Z,1758397775.809 [keepstation:TransitToStation] Running Loop=1 2025-09-20T19:49:35.809Z,1758397775.809 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation 2025-09-20T19:49:35.809Z,1758397775.809 [keepstation:TransitToStation:Dive] Running Loop=1 2025-09-20T19:49:35.809Z,1758397775.809 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive 2025-09-20T19:49:35.809Z,1758397775.809 [keepstation:TransitToStation:Dive:A] Running Loop=1 2025-09-20T19:49:35.810Z,1758397775.810 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A 2025-09-20T19:49:35.810Z,1758397775.810 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1 2025-09-20T19:49:35.810Z,1758397775.810 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2025-09-20T19:49:35.815Z,1758397775.815 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.779010,-121.859035 2025-09-20T19:49:36.229Z,1758397776.229 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.779010,-121.859035 2025-09-20T19:49:36.229Z,1758397776.229 [keepstation:TransitToStation:Dive] Running Loop=1 2025-09-20T19:49:36.229Z,1758397776.229 [keepstation:DiveCmd] Running Loop=1 2025-09-20T19:49:36.229Z,1758397776.229 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd 2025-09-20T19:49:36.229Z,1758397776.229 [keepstation:DiveCmd:SurfaceSink] Running Loop=1 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize. 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:TransitToStation] Running Loop=1 2025-09-20T19:49:36.230Z,1758397776.230 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation 2025-09-20T19:49:36.231Z,1758397776.231 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1 2025-09-20T19:49:36.235Z,1758397776.235 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive 2025-09-20T19:49:36.235Z,1758397776.235 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1 2025-09-20T19:49:36.235Z,1758397776.235 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-09-20T19:49:36.235Z,1758397776.235 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1 2025-09-20T19:49:36.235Z,1758397776.235 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize. 2025-09-20T19:49:36.235Z,1758397776.235 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1 2025-09-20T19:49:36.235Z,1758397776.235 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize. 2025-09-20T19:49:36.236Z,1758397776.236 [keepstation:DiveCmd:StationKeep] Running Loop=1 2025-09-20T19:49:36.236Z,1758397776.236 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep 2025-09-20T19:49:36.236Z,1758397776.236 [keepstation:DiveCmd:StationKeep:A] Running Loop=1 2025-09-20T19:49:36.236Z,1758397776.236 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1 2025-09-20T19:49:36.236Z,1758397776.236 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize. 2025-09-20T19:49:36.236Z,1758397776.236 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1 2025-09-20T19:49:36.236Z,1758397776.236 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent. 2025-09-20T19:49:36.237Z,1758397776.237 [keepstation:DiveCmd:StationKeep] Running Loop=1 2025-09-20T19:49:36.237Z,1758397776.237 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1 2025-09-20T19:49:36.238Z,1758397776.238 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1 2025-09-20T19:49:36.238Z,1758397776.238 [keepstation:DiveCmd:StationKeep:A] Running Loop=1 2025-09-20T19:49:36.238Z,1758397776.238 [keepstation:DiveCmd:TransitToStation] Stopped 2025-09-20T19:49:36.239Z,1758397776.239 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation 2025-09-20T19:49:36.239Z,1758397776.239 [keepstation:DiveCmd:TransitToStation:dive] Stopped 2025-09-20T19:49:36.243Z,1758397776.243 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive 2025-09-20T19:49:36.243Z,1758397776.243 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped 2025-09-20T19:49:36.243Z,1758397776.243 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-09-20T19:49:36.243Z,1758397776.243 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped 2025-09-20T19:49:36.243Z,1758397776.243 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped 2025-09-20T19:49:36.243Z,1758397776.243 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize. 2025-09-20T19:49:36.243Z,1758397776.243 [keepstation:DiveCmd:SurfaceSink] Stopped 2025-09-20T19:49:36.243Z,1758397776.243 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink 2025-09-20T19:49:36.244Z,1758397776.244 [keepstation:DiveCmd:SurfaceSink:sink] Stopped 2025-09-20T19:49:36.244Z,1758397776.244 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink 2025-09-20T19:49:36.244Z,1758397776.244 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped 2025-09-20T19:49:36.244Z,1758397776.244 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-09-20T19:49:36.244Z,1758397776.244 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped 2025-09-20T19:49:36.244Z,1758397776.244 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize. 2025-09-20T19:49:36.244Z,1758397776.244 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped 2025-09-20T19:49:36.274Z,1758397776.274 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-09-20T19:49:41.532Z,1758397781.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:49:41.850Z,1758397781.850 [NAL9602](INFO): SBD MO Status=0, MOMSN=1940, MT Status=0, MTMSN=0 2025-09-20T19:49:41.850Z,1758397781.850 [NAL9602](INFO): No messages in MT queue 2025-09-20T19:49:50.323Z,1758397790.323 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:49:59.363Z,1758397799.363 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:50:10.911Z,1758397810.911 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:50:12.577Z,1758397812.577 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-20T19:50:19.935Z,1758397819.935 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:50:28.747Z,1758397828.747 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:50:38.015Z,1758397838.015 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:51:09.115Z,1758397869.115 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:51:37.232Z,1758397897.232 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.218685 2025-09-20T19:51:38.235Z,1758397898.235 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:51:51.668Z,1758397911.668 [Radio_Surface](INFO): Powering down 2025-09-20T19:52:08.355Z,1758397928.355 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:52:09.359Z,1758397929.359 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-09-20T19:52:09.360Z,1758397929.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:52:39.479Z,1758397959.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:52:40.500Z,1758397960.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:53:10.623Z,1758397990.623 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:53:11.627Z,1758397991.627 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:53:41.755Z,1758398021.755 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:53:42.776Z,1758398022.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:54:12.911Z,1758398052.911 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:54:13.915Z,1758398053.915 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:54:44.035Z,1758398084.035 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:54:45.039Z,1758398085.039 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:55:15.183Z,1758398115.183 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:55:16.187Z,1758398116.187 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:55:46.307Z,1758398146.307 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:55:47.311Z,1758398147.311 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:55:49.138Z,1758398149.138 [keepstation](INFO): Timed out from 2025-09-20T19:45:49.1Z 2025-09-20T19:55:49.139Z,1758398149.139 [MissionManager](INFO): keepstation is completed. 2025-09-20T19:55:49.156Z,1758398149.156 [MissionManager](INFO): Uninitializing Mission keepstation 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation] Stopped 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation](DEBUG): Aggregate::uninitialize keepstation 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation:StandardEnvelopes] Stopped 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-09-20T19:55:49.156Z,1758398149.156 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:BackseatDriver] Stopped 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:BackseatDriver:A.BackseatDriver] Stopped 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:PowerOnly] Stopped 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:PowerOnly:E.Wait] Stopped 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:H.Pitch] Stopped 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:DiveCmd] Stopped 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:DiveCmd:StationKeep] Stopped 2025-09-20T19:55:49.157Z,1758398149.157 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:DiveCmd:StationKeep:A] Stopped 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent. 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:TransitToStation] Stopped 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:TransitToStation:Dive] Stopped 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:TransitToStation:Dive:A] Stopped 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped 2025-09-20T19:55:49.158Z,1758398149.158 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-09-20T19:55:49.334Z,1758398149.334 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl 2025-09-20T19:55:49.339Z,1758398149.339 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl 2025-09-20T19:55:49.340Z,1758398149.340 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl 2025-09-20T19:55:49.342Z,1758398149.342 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl 2025-09-20T19:55:56.131Z,1758398156.131 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into: 3 180 3 1 5 4 1.5 1.5 60 2 2 5 1 120 40 5 NaN 10 NaN 4 205 2 20 0.05 NaN NaN NaN 60 -1 1 1 0 0 0 No longer in Terminal. Resuming normal ranging with pings. 5 Entering USBL mode with pings at (mode ). 5 Resuming normal ranging with pings (mode ). 5 Entering Midcourse tracking update period sec at (mode ). 5 0 Entering Terminal tracking update period sec at (mode ). Restarting DHCP... ! /mnt/mmc/LRAUV/Tools/dhcp.sh Restarting logs restart logs Timed out trying to reach the target depth. Stopping mission at current depth of stop 1 -99 Mode 0 Waiting on dock for Retrying incomplete docking attempt 1 Breaking off. Range: . Driving to post-undock waypoint , No post-undock waypoint, drifting for minutes 0 0 0 2025-09-20T19:55:56.145Z,1758398156.145 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h 2025-09-20T19:55:56.147Z,1758398156.147 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min 2025-09-20T19:55:56.149Z,1758398156.149 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h 2025-09-20T19:55:56.152Z,1758398156.152 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count 2025-09-20T19:55:56.154Z,1758398156.154 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min 2025-09-20T19:55:56.156Z,1758398156.156 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool 2025-09-20T19:55:56.158Z,1758398156.158 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool 2025-09-20T19:55:56.160Z,1758398156.160 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool 2025-09-20T19:55:56.162Z,1758398156.162 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count 2025-09-20T19:55:56.165Z,1758398156.165 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min 2025-09-20T19:55:56.167Z,1758398156.167 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min 2025-09-20T19:55:56.170Z,1758398156.170 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count 2025-09-20T19:55:56.172Z,1758398156.172 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s 2025-09-20T19:55:56.174Z,1758398156.174 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s 2025-09-20T19:55:56.201Z,1758398156.201 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min 2025-09-20T19:55:56.207Z,1758398156.207 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count 2025-09-20T19:55:56.209Z,1758398156.209 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count 2025-09-20T19:55:56.224Z,1758398156.224 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count 2025-09-20T19:55:56.226Z,1758398156.226 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m 2025-09-20T19:55:56.232Z,1758398156.232 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count 2025-09-20T19:55:56.235Z,1758398156.235 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m 2025-09-20T19:55:56.241Z,1758398156.241 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min 2025-09-20T19:55:56.248Z,1758398156.248 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m 2025-09-20T19:55:56.250Z,1758398156.250 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m 2025-09-20T19:55:56.261Z,1758398156.261 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m 2025-09-20T19:55:56.267Z,1758398156.267 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km 2025-09-20T19:55:56.269Z,1758398156.269 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min 2025-09-20T19:55:56.276Z,1758398156.276 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s 2025-09-20T19:55:56.278Z,1758398156.278 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg 2025-09-20T19:55:56.296Z,1758398156.296 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg 2025-09-20T19:55:56.298Z,1758398156.298 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m 2025-09-20T19:55:56.304Z,1758398156.304 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool 2025-09-20T19:55:56.307Z,1758398156.307 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m 2025-09-20T19:55:56.321Z,1758398156.321 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s 2025-09-20T19:55:56.340Z,1758398156.340 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s 2025-09-20T19:55:56.342Z,1758398156.342 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count 2025-09-20T19:55:56.353Z,1758398156.353 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count 2025-09-20T19:55:56.360Z,1758398156.360 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count 2025-09-20T19:55:56.362Z,1758398156.362 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool 2025-09-20T19:55:56.368Z,1758398156.368 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool 2025-09-20T19:55:56.370Z,1758398156.370 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool 2025-09-20T19:55:56.373Z,1758398156.373 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count 2025-09-20T19:55:56.412Z,1758398156.412 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count 2025-09-20T19:55:56.412Z,1758398156.412 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-09-20T19:55:56.412Z,1758398156.412 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-09-20T19:55:56.426Z,1758398156.426 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-09-20T19:56:00.248Z,1758398160.248 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-09-20T19:56:00.274Z,1758398160.274 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool 2025-09-20T19:56:00.276Z,1758398160.276 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool 2025-09-20T19:56:00.278Z,1758398160.278 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min 2025-09-20T19:56:00.280Z,1758398160.280 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool 2025-09-20T19:56:00.282Z,1758398160.282 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool 2025-09-20T19:56:00.284Z,1758398160.284 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool 2025-09-20T19:56:00.286Z,1758398160.286 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool 2025-09-20T19:56:00.343Z,1758398160.343 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count 2025-09-20T19:56:00.345Z,1758398160.345 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count 2025-09-20T19:56:00.352Z,1758398160.352 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 % 2025-09-20T19:56:00.354Z,1758398160.354 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool 2025-09-20T19:56:00.372Z,1758398160.372 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool 2025-09-20T19:56:00.374Z,1758398160.374 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool 2025-09-20T19:56:00.392Z,1758398160.392 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool 2025-09-20T19:56:00.394Z,1758398160.394 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-09-20T19:56:00.398Z,1758398160.398 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-09-20T19:56:00.409Z,1758398160.409 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-09-20T19:56:00.411Z,1758398160.411 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-09-20T19:56:00.453Z,1758398160.453 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-09-20T19:56:00.456Z,1758398160.456 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-09-20T19:56:00.459Z,1758398160.459 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-09-20T19:56:00.477Z,1758398160.477 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-09-20T19:56:00.489Z,1758398160.489 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-09-20T19:56:00.491Z,1758398160.491 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool 2025-09-20T19:56:00.494Z,1758398160.494 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool 2025-09-20T19:56:00.504Z,1758398160.504 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool 2025-09-20T19:56:00.507Z,1758398160.507 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool 2025-09-20T19:56:00.510Z,1758398160.510 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool 2025-09-20T19:56:00.536Z,1758398160.536 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-09-20T19:56:00.538Z,1758398160.538 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 0 bool 2025-09-20T19:56:00.545Z,1758398160.545 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count 2025-09-20T19:56:00.549Z,1758398160.549 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count 2025-09-20T19:56:00.563Z,1758398160.563 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m 2025-09-20T19:56:00.565Z,1758398160.565 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m 2025-09-20T19:56:00.568Z,1758398160.568 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-09-20T19:56:00.571Z,1758398160.571 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan % 2025-09-20T19:56:00.581Z,1758398160.581 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan % 2025-09-20T19:56:00.587Z,1758398160.587 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l 2025-09-20T19:56:00.590Z,1758398160.590 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumberOfLayers = 1.000000 count 2025-09-20T19:56:00.596Z,1758398160.596 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool 2025-09-20T19:56:00.598Z,1758398160.598 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l 2025-09-20T19:56:00.600Z,1758398160.600 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l 2025-09-20T19:56:00.602Z,1758398160.602 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count 2025-09-20T19:56:00.613Z,1758398160.613 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-09-20T19:56:00.619Z,1758398160.619 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-09-20T19:56:00.621Z,1758398160.621 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-09-20T19:56:00.636Z,1758398160.636 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-09-20T19:56:00.638Z,1758398160.638 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool 2025-09-20T19:56:00.640Z,1758398160.640 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l 2025-09-20T19:56:00.660Z,1758398160.660 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m 2025-09-20T19:56:00.677Z,1758398160.677 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC 2025-09-20T19:56:00.693Z,1758398160.693 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg 2025-09-20T19:56:00.720Z,1758398160.720 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg 2025-09-20T19:56:00.722Z,1758398160.722 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l 2025-09-20T19:56:00.725Z,1758398160.725 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m 2025-09-20T19:56:00.739Z,1758398160.739 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC 2025-09-20T19:56:00.741Z,1758398160.741 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg 2025-09-20T19:56:00.755Z,1758398160.755 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg 2025-09-20T19:56:00.758Z,1758398160.758 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l 2025-09-20T19:56:00.762Z,1758398160.762 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m 2025-09-20T19:56:00.773Z,1758398160.773 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg 2025-09-20T19:56:00.779Z,1758398160.779 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg 2025-09-20T19:56:00.782Z,1758398160.782 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3 2025-09-20T19:56:00.788Z,1758398160.788 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m 2025-09-20T19:56:00.790Z,1758398160.790 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg 2025-09-20T19:56:00.816Z,1758398160.816 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg 2025-09-20T19:56:00.818Z,1758398160.818 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb 2025-09-20T19:56:00.861Z,1758398160.861 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m 2025-09-20T19:56:00.867Z,1758398160.867 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC 2025-09-20T19:56:00.875Z,1758398160.875 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg 2025-09-20T19:56:00.882Z,1758398160.882 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg 2025-09-20T19:56:00.905Z,1758398160.905 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu 2025-09-20T19:56:00.913Z,1758398160.913 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m 2025-09-20T19:56:00.916Z,1758398160.916 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC 2025-09-20T19:56:00.918Z,1758398160.918 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg 2025-09-20T19:56:00.937Z,1758398160.937 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg 2025-09-20T19:56:00.967Z,1758398160.967 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-09-20T19:56:00.970Z,1758398160.970 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-09-20T19:56:00.989Z,1758398160.989 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-09-20T19:56:01.004Z,1758398161.004 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-09-20T19:56:01.006Z,1758398161.006 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-09-20T19:56:01.012Z,1758398161.012 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-09-20T19:56:01.027Z,1758398161.027 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-09-20T19:56:01.030Z,1758398161.030 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-09-20T19:56:01.036Z,1758398161.036 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-09-20T19:56:01.038Z,1758398161.038 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-09-20T19:56:01.045Z,1758398161.045 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-09-20T19:56:01.060Z,1758398161.060 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-09-20T19:56:01.062Z,1758398161.062 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-09-20T19:56:01.068Z,1758398161.068 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-09-20T19:56:01.075Z,1758398161.075 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-09-20T19:56:01.077Z,1758398161.077 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-09-20T19:56:01.080Z,1758398161.080 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-09-20T19:56:01.082Z,1758398161.082 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-09-20T19:56:01.097Z,1758398161.097 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-09-20T19:56:01.102Z,1758398161.102 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-09-20T19:56:01.137Z,1758398161.137 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-09-20T19:56:01.152Z,1758398161.152 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-09-20T19:56:01.154Z,1758398161.154 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-09-20T19:56:01.161Z,1758398161.161 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-09-20T19:56:01.167Z,1758398161.167 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-09-20T19:56:01.170Z,1758398161.170 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-09-20T19:56:01.176Z,1758398161.176 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-09-20T19:56:01.178Z,1758398161.178 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-09-20T19:56:01.189Z,1758398161.189 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-09-20T19:56:01.195Z,1758398161.195 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-09-20T19:56:01.204Z,1758398161.204 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-09-20T19:56:01.206Z,1758398161.206 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-09-20T19:56:01.217Z,1758398161.217 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-09-20T19:56:01.223Z,1758398161.223 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-09-20T19:56:01.225Z,1758398161.225 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-09-20T19:56:01.264Z,1758398161.264 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-09-20T19:56:01.266Z,1758398161.266 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-09-20T19:56:01.277Z,1758398161.277 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-09-20T19:56:01.288Z,1758398161.288 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-09-20T19:56:01.290Z,1758398161.290 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-09-20T19:56:01.304Z,1758398161.304 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l 2025-09-20T19:56:01.313Z,1758398161.313 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m 2025-09-20T19:56:01.321Z,1758398161.321 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg 2025-09-20T19:56:01.332Z,1758398161.332 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg 2025-09-20T19:56:01.355Z,1758398161.355 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m 2025-09-20T19:56:01.358Z,1758398161.358 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu 2025-09-20T19:56:01.375Z,1758398161.375 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m 2025-09-20T19:56:01.377Z,1758398161.377 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg 2025-09-20T19:56:01.388Z,1758398161.388 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg 2025-09-20T19:56:01.390Z,1758398161.390 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m 2025-09-20T19:56:01.397Z,1758398161.397 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu 2025-09-20T19:56:01.403Z,1758398161.403 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m 2025-09-20T19:56:01.406Z,1758398161.406 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg 2025-09-20T19:56:01.421Z,1758398161.421 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg 2025-09-20T19:56:01.427Z,1758398161.427 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m 2025-09-20T19:56:01.429Z,1758398161.429 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool 2025-09-20T19:56:01.436Z,1758398161.436 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l 2025-09-20T19:56:01.499Z,1758398161.499 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:01.538Z,1758398161.538 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-20T19:56:01.579Z,1758398161.579 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-20T19:56:01.614Z,1758398161.614 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:01.677Z,1758398161.677 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:01.721Z,1758398161.721 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-20T19:56:01.755Z,1758398161.755 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:01.780Z,1758398161.780 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:01.806Z,1758398161.806 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-20T19:56:01.844Z,1758398161.844 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:01.884Z,1758398161.884 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-20T19:56:01.937Z,1758398161.937 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:01.961Z,1758398161.961 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-20T19:56:02.008Z,1758398162.008 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:02.020Z,1758398162.020 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-20T19:56:02.113Z,1758398162.113 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-20T19:56:02.129Z,1758398162.129 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-20T19:56:02.173Z,1758398162.173 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-09-20T19:56:02.180Z,1758398162.180 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:56:02.180Z,1758398162.180 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:56:02.181Z,1758398162.181 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:56:02.252Z,1758398162.252 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-09-20T19:56:02.256Z,1758398162.256 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m 2025-09-20T19:56:02.258Z,1758398162.258 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-09-20T19:56:02.260Z,1758398162.260 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m 2025-09-20T19:56:02.262Z,1758398162.262 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-09-20T19:56:02.263Z,1758398162.263 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-20T19:56:02.269Z,1758398162.269 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-20T19:56:02.275Z,1758398162.275 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-09-20T19:56:02.284Z,1758398162.284 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-09-20T19:56:02.284Z,1758398162.284 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-09-20T19:56:02.285Z,1758398162.285 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-09-20T19:56:02.572Z,1758398162.572 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-09-20T19:56:02.577Z,1758398162.577 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h 2025-09-20T19:56:02.579Z,1758398162.579 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min 2025-09-20T19:56:02.582Z,1758398162.582 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-09-20T19:56:02.584Z,1758398162.584 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s 2025-09-20T19:56:02.586Z,1758398162.586 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-09-20T19:56:02.588Z,1758398162.588 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s 2025-09-20T19:56:02.590Z,1758398162.590 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min 2025-09-20T19:56:02.593Z,1758398162.593 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min 2025-09-20T19:56:02.598Z,1758398162.598 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-09-20T19:56:02.666Z,1758398162.666 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl 2025-09-20T19:56:02.667Z,1758398162.667 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl 2025-09-20T19:56:02.683Z,1758398162.683 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl 2025-09-20T19:56:02.765Z,1758398162.765 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into: 10 5 2025-09-20T19:56:02.768Z,1758398162.768 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min 2025-09-20T19:56:02.770Z,1758398162.770 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min 2025-09-20T19:56:02.786Z,1758398162.786 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval 2025-09-20T19:56:02.789Z,1758398162.789 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl 2025-09-20T19:56:02.790Z,1758398162.790 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl 2025-09-20T19:56:02.792Z,1758398162.792 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl 2025-09-20T19:56:03.856Z,1758398163.856 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into: 30 0.0 1 0.01 0.001 2 8 1 NaN NaN NaN 0.0 0 NaN -1 0 1 2 3 1 5 0 0 Timed out while trying to detach from dock at current depth of . Transitioning to midcourse guidance. Navigating to dock waypoint ( , ) Transitioning to terminal guidance at range Terminating homing sequence: timed out while navigating to the dock waypoint. Executing search pattern. Timed out while executing search pattern around dock waypoint. Homing sequence timed out prior to docking. Terminal guidance. Transitioning to midcourse guidance. Received last range of ago. Docked. Homing sequence complete. 3 GuidanceMode 2025-09-20T19:56:03.866Z,1758398163.866 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.779130 arcdeg 2025-09-20T19:56:03.869Z,1758398163.869 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -121.859630 arcdeg 2025-09-20T19:56:03.887Z,1758398163.887 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min 2025-09-20T19:56:03.889Z,1758398163.889 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m 2025-09-20T19:56:03.892Z,1758398163.892 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s 2025-09-20T19:56:03.894Z,1758398163.894 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h 2025-09-20T19:56:03.897Z,1758398163.897 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m 2025-09-20T19:56:03.900Z,1758398163.900 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min 2025-09-20T19:56:03.902Z,1758398163.902 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a 2025-09-20T19:56:03.905Z,1758398163.905 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min 2025-09-20T19:56:03.907Z,1758398163.907 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m 2025-09-20T19:56:03.909Z,1758398163.909 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m 2025-09-20T19:56:03.911Z,1758398163.911 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool 2025-09-20T19:56:03.914Z,1758398163.914 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m 2025-09-20T19:56:03.916Z,1758398163.916 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg 2025-09-20T19:56:03.918Z,1758398163.918 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m 2025-09-20T19:56:03.920Z,1758398163.920 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m 2025-09-20T19:56:03.922Z,1758398163.922 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m 2025-09-20T19:56:03.949Z,1758398163.949 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m 2025-09-20T19:56:03.955Z,1758398163.955 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min 2025-09-20T19:56:03.957Z,1758398163.957 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m 2025-09-20T19:56:03.964Z,1758398163.964 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a 2025-09-20T19:56:03.966Z,1758398163.966 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min 2025-09-20T19:56:03.968Z,1758398163.968 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m 2025-09-20T19:56:03.971Z,1758398163.971 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count 2025-09-20T19:56:03.989Z,1758398163.989 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count 2025-09-20T19:56:03.996Z,1758398163.996 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count 2025-09-20T19:56:03.998Z,1758398163.998 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count 2025-09-20T19:56:04.007Z,1758398164.007 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count 2025-09-20T19:56:04.013Z,1758398164.013 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count 2025-09-20T19:56:04.020Z,1758398164.020 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m 2025-09-20T19:56:04.022Z,1758398164.022 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count 2025-09-20T19:56:04.034Z,1758398164.034 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:56:04.034Z,1758398164.034 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:56:04.040Z,1758398164.040 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-09-20T19:56:04.246Z,1758398164.246 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-09-20T19:56:04.254Z,1758398164.254 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m 2025-09-20T19:56:04.256Z,1758398164.256 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-09-20T19:56:04.258Z,1758398164.258 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m 2025-09-20T19:56:04.268Z,1758398164.268 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-09-20T19:56:04.269Z,1758398164.269 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-20T19:56:04.283Z,1758398164.283 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-20T19:56:04.290Z,1758398164.290 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-09-20T19:56:04.332Z,1758398164.332 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct. 2025-09-20T19:56:04.337Z,1758398164.337 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-20T19:56:04.342Z,1758398164.342 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct. 2025-09-20T19:56:04.343Z,1758398164.343 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-09-20T19:56:04.368Z,1758398164.368 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct. 2025-09-20T19:56:04.371Z,1758398164.371 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct. 2025-09-20T19:56:04.375Z,1758398164.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint. 2025-09-20T19:56:04.387Z,1758398164.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct. 2025-09-20T19:56:04.393Z,1758398164.393 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait. 2025-09-20T19:56:04.417Z,1758398164.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct. 2025-09-20T19:56:04.424Z,1758398164.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct. 2025-09-20T19:56:04.430Z,1758398164.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct. 2025-09-20T19:56:04.443Z,1758398164.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-09-20T19:56:04.443Z,1758398164.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-09-20T19:56:04.446Z,1758398164.446 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait. 2025-09-20T19:56:04.622Z,1758398164.622 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute. 2025-09-20T19:56:04.625Z,1758398164.625 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute. 2025-09-20T19:56:04.631Z,1758398164.631 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct. 2025-09-20T19:56:04.633Z,1758398164.633 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct. 2025-09-20T19:56:04.636Z,1758398164.636 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct. 2025-09-20T19:56:04.645Z,1758398164.645 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute. 2025-09-20T19:56:04.714Z,1758398164.714 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl 2025-09-20T19:56:04.714Z,1758398164.714 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl 2025-09-20T19:56:04.716Z,1758398164.716 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl 2025-09-20T19:56:04.815Z,1758398164.815 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into: Reseting nav to dock location at range 2025-09-20T19:56:04.819Z,1758398164.819 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.779130 arcdeg 2025-09-20T19:56:04.822Z,1758398164.822 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -121.859630 arcdeg 2025-09-20T19:56:04.837Z,1758398164.837 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m 2025-09-20T19:56:04.840Z,1758398164.840 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min 2025-09-20T19:56:04.846Z,1758398164.846 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav. 2025-09-20T19:56:04.851Z,1758398164.851 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct. 2025-09-20T19:56:04.852Z,1758398164.852 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2025-09-20T19:56:04.913Z,1758398164.913 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct. 2025-09-20T19:56:04.913Z,1758398164.913 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values. 2025-09-20T19:56:04.940Z,1758398164.940 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct. 2025-09-20T19:56:04.948Z,1758398164.948 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct. 2025-09-20T19:56:04.950Z,1758398164.950 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint. 2025-09-20T19:56:04.972Z,1758398164.972 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-20T19:56:04.979Z,1758398164.979 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct. 2025-09-20T19:56:05.002Z,1758398165.002 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct. 2025-09-20T19:56:05.018Z,1758398165.018 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct. 2025-09-20T19:56:05.022Z,1758398165.022 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait. 2025-09-20T19:56:05.119Z,1758398165.119 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission lineCaptureHoming { """ Home to transponder while maintaining altitude or depth. Altitude gets priority if non nan. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using USBL tracking data (4) Dock: final approach using fixed heading. """ # Define mission arguments arguments { MissionTimeout = 3 hour """ Maximum length of mission """ NeedCommsTime = 180 minute """ How often to surface for commumications """ MicromodemCommsInterval = 3 hour """ How often to trigger Umodem communications """ Repeat = 1 count """ Number of times the vehicle should try to cycle through the homing sequence. """ WaitOnDockTimeout = 5 minute """ Time duration to wait on the dock after a successful line capture. """ StayOnDock = false """ If true, mission terminates after WaitOnDockTimeout following a successful capture, without executing the undock sequence. """ TrySlide = false """ If true, once docked, try to slide down the docking rod until charging and comms are acheived """ RetryIncompleteDock = false """ If true, restart docking sequence in event of a successful capture but unsuccessful slide """ SlideRetries = 4 count """ If using slide mode, max number of times to try the slide sequence before giving up """ SlideSinkDuration = 1.5 minute """ Time duration to slide down by sinking during each slide mode iteration """ SlideCloseDuration = 1.5 minute """ Time duration to close arm to check for power/comms during each slide mode iteration """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ TrackingUpdatePeriodMidcourse = 60 second """ How long to wait between acoustic queries. """ TrackingUpdatePeriodTerminal = 2 second """ How long to wait between acoustic queries. """ TrackingUpdatePeriodDocked = 2 minute """ How long to wait between acoustic queries. """ TrackingNumFixesLowPassFilter = 5 count """ Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter. """ NumberOfPings = 1 count """ Number of pings requested each time. """ NumPingsUSBL = 120 count """ Number of pings requested while in USBL mode range. """ RangeUSBL = 40 meter """ USBL mode range. """ TrackingNumFixesLowPassFilterUSBL = 5 count """ Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter. """ DockingAltitude = NaN meter """ Docking altitude. Ignored when NaN and used over depth when a valid altitude is set. """ InvalidAltitudeTimeout = 10 minute """ The mission will use the last good depth command if no valid altitude readings are received within this specified time duration. """ AltitudeDepthLimit = NaN meter """ Vehicle will not be commanded deeper than this regardless of altitude command. """ MinAltitude = 4 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 205 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ ApproachDepthTimeout = 20 minute """ Maximum wait time for the vehicle to reach the target depth on initial dive. """ ApproachDepthRate = 0.05 meter_per_second """ Descent depth rate (positive depth is down). Used only as a smoothing parameter. """ Lat1 = NaN degree """ Latitude of rollout waypoint. If nan, waypoint is skipped. """ Lon1 = NaN degree """ Longitude of rollout waypoint. If nan, waypoint is skipped. """ CaptureRadius = NaN meter """ How close to call the waypiont behavior satisfied. Nan uses default value. """ CorrectForSoundSpeed = false """ Whether or not to apply sound speed correction to acoustic ranges """ # Mission Variables (don't change) MidcourseDepth = Dock:LineCapture.midcourseDepth """ Desired vehicle depth when navigating to dock WP (during midcourse phase). """ MidcourseSpeed = Dock:LineCapture.midcourseSpeed """ Speed during initial dive and waypoint. """ TrackingPeriod = 60 second """ Mission variable (don't change). The mission sets this variable to update the how long to wait between acoustic queries. """ } output { Mode = -1 count """ Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert. """ NumPings = 1 count """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ LowPassFilterWinSize = 1 count """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ LowPassFilterWinOverlap = true """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ EndDockingSequence = StayOnDock """ Mission variable (don't change). The mission sets this variable to determine whether or not to restart the docking sequence upon completion of the Docked behavior. """ LastDockSuccessful = false """ Mission variable (don't change). The mission sets this variable based on the last run of the Docked behavior """ DockSuccessfulCount = 0 count """ Mission variable (don't change). The mission sets this variable to track the number of complete docking attempts """ RepeatArg = Repeat """ Mission variable (don't change). Actual number of Lap repetitions """ } # Mission timeout timeout duration=MissionTimeout insert Insert/Science.tl { """ Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. """ } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 0 minute # Micromodem comms insert id="MicromodemComms" Insert/MicromodemComms.tl { redefineArg CommsInterval = MicromodemCommsInterval } readData { while ( Mode >= 0 count and Sensor:DataOverHttps.connectionStatus == true ) Universal:platform_communications } # Add LineCapture directives. insert Insert/LineCapture.tl assign in sequence LineCapture:MaxDepth = MaxDepth assign in sequence LineCapture:MinOffshore = MinOffshore assign in sequence LineCapture:MinAltitude = MinAltitude assign in sequence LineCapture:DockingAltitude = DockingAltitude assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit # Add track acoustic contact directive. assign in sequence NumPings = NumberOfPings behavior Estimation:TrackAcousticContact id="TrackAC" { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumPings set updatePeriodSetting = TrackingPeriod set numFixesLowPassSetting = LowPassFilterWinSize set lowPassOverlapSetting = LowPassFilterWinOverlap set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed } # Add USBL mode directives. aggregate UpdateNumPings_NotTerminal { run while ( not ( LineCapture:GuidanceMode == LineCapture:Terminal ) and not ( NumPings == NumberOfPings ) ) syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count + "pings." assign in sequence NumPings = NumberOfPings assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate UpdateNumPings_Terminal { run while ( LineCapture:GuidanceMode == LineCapture:Terminal ) aggregate UpdateNumPingsUSBL { run when ( not ( NumPings == NumPingsUSBL ) and ( ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout and not ( Dock:LineCapture.guidanceMode == 5 count ) ) ) syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at " + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence NumPings = NumPingsUSBL assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL assign in sequence LowPassFilterWinOverlap = true } aggregate UpdateNumPingsATR { run when ( not ( NumPings == NumberOfPings ) and ( ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout or Dock:LineCapture.guidanceMode == 5 count ) ) syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings " + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence NumPings = NumberOfPings assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } } aggregate UpdatePingUpdateRate_Midcourse { run when ( not ( TrackingPeriod == TrackingUpdatePeriodMidcourse ) and ( ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout or Dock:LineCapture.guidanceMode == 5 count ) ) syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate UpdatePingUpdateRate_Terminal { run when ( not ( TrackingPeriod == TrackingUpdatePeriodTerminal ) and ( ( LineCapture:Range <= LineCapture:TerminalRange ) and not ( Dock:LineCapture.guidanceMode == 5 count ) and not ( LineCapture:GuidanceMode == 0 count ) ) # don't enter fast ping mode during rollout or on dock ) syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate restartDHCP { run when ( called ) syslog info "Restarting DHCP..." behavior Guidance:Execute { run in sequence set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh" } } # Start mission sequence. call id="StartingMission" priorityHere=false refId="NeedComms" syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate InitialDive { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = MidcourseSpeed } behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = MidcourseDepth set depthRate = ApproachDepthRate } } # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the # required repetition count (which has just been decremented by the lap attempt). # But that repeat check is evaluated at the beginning of the aggregate, not the end. # In order to be able to retry an incomplete docking attempt on the last lap # we need to make it back up to the top of the Lap aggregate somehow. # Solve this by quietly setting the repeat count to one more than actually desired. # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra # lap, but starting the Lap aggregate will allow us to check the repeat on each run. aggregate RepeatHack { run in sequence break if ( not RetryIncompleteDock ) assign in sequence RepeatArg = Repeat + 1 count } aggregate Lap { run in sequence repeat=RepeatArg break if ( ( StayOnDock and LastDockSuccessful ) or ( RetryIncompleteDock # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count and ( DockSuccessfulCount == Repeat ) ) ) assign in sequence Mode = -99 count # Execute the LineCapture sequence. call priorityHere=false refId="LineCapture" assign in sequence Mode = LineCapture:GuidanceMode syslog info "Mode" + Mode~count call priorityHere=false refId="restartDHCP" aggregate Docked { run in sequence break if ( Mode < 0 count ) syslog info "Waiting on dock for " + WaitOnDockTimeout~minute # Add SetNav directives. insert Insert/SetNavAcoustic.tl assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked assign in sequence EndDockingSequence = StayOnDock behavior Dock:Docked id="Docked" { run in sequence timeout duration=WaitOnDockTimeout set slideSinkTime = SlideSinkDuration set slideCloseTime = SlideCloseDuration set slideRetries = SlideRetries set slideAllowed = TrySlide outputArg LastDockSuccessful = dockSuccessful } # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock aggregate setCompletion { run in sequence break if ( not RetryIncompleteDock ) assign in sequence EndDockingSequence = ( LastDockSuccessful and StayOnDock ) assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful aggregate setRetry { run in sequence break if ( LastDockSuccessful ) syslog important "Retrying incomplete docking attempt" # This lap failed and doesn't "count", so repeat one additional time assign in sequence RepeatArg = RepeatArg + 1 count } } aggregate Detach { run in sequence break if ( EndDockingSequence ) syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "." behavior Dock:Undock id="Undock" { run in sequence } call priorityHere=false refId="restartDHCP" } aggregate Wpt1 { run in sequence break if ( isNaN ( Lat1 ) or isNaN ( Lon1 ) or ( EndDockingSequence ) ) syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree behavior Guidance:Pitch { run in parallel set depth = MidcourseDepth } behavior Guidance:SetSpeed { run in parallel set speed = MidcourseSpeed } behavior Guidance:Waypoint { run in sequence set latitude = Lat1 set longitude = Lon1 set captureRadius = CaptureRadius } } aggregate Drift { """ Drift before next docking attempt """ run in sequence break if ( not isNaN ( Lat1 ) and not isNaN ( Lon1 ) or ( EndDockingSequence ) ) syslog important "No post-undock waypoint, drifting for " + Dock:LineCapture.rolloutTimeout~minute + " minutes" behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault set elevatorAngle = 0 degree } behavior Guidance:Point { run in parallel set rudderAngle = 0 degree } behavior Guidance:SetSpeed { run in parallel set speed = 0 meter_per_second } behavior Guidance:Wait { run in sequence set duration = Dock:LineCapture.rolloutTimeout } } } } } 2025-09-20T19:56:05.120Z,1758398165.120 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming 2025-09-20T19:56:05.324Z,1758398165.324 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-09-20T19:56:05.324Z,1758398165.324 [DefaultWithUndock] Running Loop=1 2025-09-20T19:56:05.324Z,1758398165.324 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-09-20T19:56:05.324Z,1758398165.324 [DefaultWithUndock:A.Wait] Running Loop=1 2025-09-20T19:56:05.324Z,1758398165.324 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-09-20T19:56:17.431Z,1758398177.431 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:56:18.436Z,1758398178.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:56:28.120Z,1758398188.120 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool 2025-09-20T19:56:28.121Z,1758398188.121 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.2 meter 2025-09-20T19:56:28.122Z,1758398188.122 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter 2025-09-20T19:56:28.122Z,1758398188.122 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 71 meter 2025-09-20T19:56:35.401Z,1758398195.401 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool 2025-09-20T19:56:35.401Z,1758398195.401 [CommandExec](IMPORTANT): got command run 2025-09-20T19:56:35.404Z,1758398195.404 [CommandExec](IMPORTANT): Running 2025-09-20T19:56:35.623Z,1758398195.623 [DefaultWithUndock] Stopped 2025-09-20T19:56:35.624Z,1758398195.624 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-09-20T19:56:35.624Z,1758398195.624 [DefaultWithUndock:A.Wait] Stopped 2025-09-20T19:56:35.624Z,1758398195.624 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-09-20T19:56:35.624Z,1758398195.624 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2025-09-20T19:56:35.624Z,1758398195.624 [lineCaptureHoming] Running Loop=1 2025-09-20T19:56:35.624Z,1758398195.624 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming 2025-09-20T19:56:35.624Z,1758398195.624 [lineCaptureHoming:Science] Running Loop=1 2025-09-20T19:56:35.624Z,1758398195.624 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:A] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:B] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:C] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:D] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:E] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:F] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:Read_Oil] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1 2025-09-20T19:56:35.625Z,1758398195.625 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl 2025-09-20T19:56:35.626Z,1758398195.626 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1 2025-09-20T19:56:35.626Z,1758398195.626 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1 2025-09-20T19:56:35.626Z,1758398195.626 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport 2025-09-20T19:56:35.626Z,1758398195.626 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-09-20T19:56:35.626Z,1758398195.626 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-09-20T19:56:35.626Z,1758398195.626 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1 2025-09-20T19:56:35.626Z,1758398195.626 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3 2025-09-20T19:56:35.627Z,1758398195.627 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1 2025-09-20T19:56:35.627Z,1758398195.627 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1 2025-09-20T19:56:35.627Z,1758398195.627 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil 2025-09-20T19:56:35.627Z,1758398195.627 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1 2025-09-20T19:56:35.627Z,1758398195.627 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1 2025-09-20T19:56:35.627Z,1758398195.627 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport 2025-09-20T19:56:35.627Z,1758398195.627 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-09-20T19:56:35.628Z,1758398195.628 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-09-20T19:56:35.628Z,1758398195.628 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1 2025-09-20T19:56:35.628Z,1758398195.628 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM 2025-09-20T19:56:35.628Z,1758398195.628 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1 2025-09-20T19:56:35.629Z,1758398195.629 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1 2025-09-20T19:56:35.629Z,1758398195.629 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity 2025-09-20T19:56:35.629Z,1758398195.629 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1 2025-09-20T19:56:35.629Z,1758398195.629 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1 2025-09-20T19:56:35.629Z,1758398195.629 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport 2025-09-20T19:56:35.629Z,1758398195.629 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-09-20T19:56:35.629Z,1758398195.629 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-09-20T19:56:35.630Z,1758398195.630 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-09-20T19:56:35.630Z,1758398195.630 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI 2025-09-20T19:56:35.630Z,1758398195.630 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-09-20T19:56:35.630Z,1758398195.630 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-09-20T19:56:35.630Z,1758398195.630 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI 2025-09-20T19:56:35.630Z,1758398195.630 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-09-20T19:56:35.630Z,1758398195.630 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-09-20T19:56:35.630Z,1758398195.630 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI 2025-09-20T19:56:35.631Z,1758398195.631 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-09-20T19:56:35.631Z,1758398195.631 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-09-20T19:56:35.631Z,1758398195.631 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI 2025-09-20T19:56:35.631Z,1758398195.631 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-09-20T19:56:35.631Z,1758398195.631 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-09-20T19:56:35.631Z,1758398195.631 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms 2025-09-20T19:56:35.631Z,1758398195.631 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-09-20T19:56:35.631Z,1758398195.631 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-09-20T19:56:35.632Z,1758398195.632 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1 2025-09-20T19:56:35.633Z,1758398195.633 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger 2025-09-20T19:56:35.633Z,1758398195.633 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-09-20T19:56:35.633Z,1758398195.633 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-09-20T19:56:35.633Z,1758398195.633 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1 2025-09-20T19:56:35.633Z,1758398195.633 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent 2025-09-20T19:56:35.633Z,1758398195.633 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1 2025-09-20T19:56:35.633Z,1758398195.633 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-09-20T19:56:35.633Z,1758398195.633 [lineCaptureHoming:StandardEnvelopes] Running Loop=1 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-09-20T19:56:35.634Z,1758398195.634 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-09-20T19:56:35.635Z,1758398195.635 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-09-20T19:56:35.635Z,1758398195.635 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-09-20T19:56:35.635Z,1758398195.635 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-09-20T19:56:35.635Z,1758398195.635 [lineCaptureHoming:J] Running Loop=1 2025-09-20T19:56:35.635Z,1758398195.635 [lineCaptureHoming:TrackAC.] Running Loop=1 2025-09-20T19:56:35.635Z,1758398195.635 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact. 2025-09-20T19:56:35.636Z,1758398195.636 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-09-20T19:56:35.636Z,1758398195.636 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-09-20T19:56:35.637Z,1758398195.637 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2025-09-20T19:56:35.637Z,1758398195.637 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-09-20T19:56:35.638Z,1758398195.638 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-09-20T19:56:35.639Z,1758398195.639 [lineCaptureHoming:C] Running Loop=1 2025-09-20T19:56:35.643Z,1758398195.643 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-09-20T19:56:35.643Z,1758398195.643 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-09-20T19:56:35.643Z,1758398195.643 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2025-09-20T19:56:35.643Z,1758398195.643 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-09-20T19:56:35.643Z,1758398195.643 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2025-09-20T19:56:35.643Z,1758398195.643 [lineCaptureHoming:TrackAC.] Running Loop=1 2025-09-20T19:56:35.644Z,1758398195.644 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed 2025-09-20T19:56:35.644Z,1758398195.644 [lineCaptureHoming:J] Stopped 2025-09-20T19:56:35.644Z,1758398195.644 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-09-20T19:56:35.645Z,1758398195.645 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-09-20T19:56:35.645Z,1758398195.645 [lineCaptureHoming:C] Stopped 2025-09-20T19:56:35.646Z,1758398195.646 [lineCaptureHoming:D] Running Loop=1 2025-09-20T19:56:35.646Z,1758398195.646 [lineCaptureHoming:StandardEnvelopes] Running Loop=1 2025-09-20T19:56:35.646Z,1758398195.646 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-09-20T19:56:35.646Z,1758398195.646 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-09-20T19:56:35.646Z,1758398195.646 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-09-20T19:56:35.647Z,1758398195.647 [lineCaptureHoming:Science] Running Loop=1 2025-09-20T19:56:35.648Z,1758398195.648 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped 2025-09-20T19:56:35.648Z,1758398195.648 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-09-20T19:56:35.649Z,1758398195.649 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI 2025-09-20T19:56:35.650Z,1758398195.650 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM 2025-09-20T19:56:35.651Z,1758398195.651 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:PeakDetectOil] Stopped 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:PeakDetectNO3] Stopped 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport 2025-09-20T19:56:35.652Z,1758398195.652 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-09-20T19:56:35.653Z,1758398195.653 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-09-20T19:56:35.653Z,1758398195.653 [lineCaptureHoming:Science:EdgeDetectChl] Stopped 2025-09-20T19:56:35.653Z,1758398195.653 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl 2025-09-20T19:56:35.653Z,1758398195.653 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped 2025-09-20T19:56:35.653Z,1758398195.653 [lineCaptureHoming:Science:PeakDetectChl] Stopped 2025-09-20T19:56:35.653Z,1758398195.653 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl 2025-09-20T19:56:35.653Z,1758398195.653 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped 2025-09-20T19:56:35.653Z,1758398195.653 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1 2025-09-20T19:56:35.654Z,1758398195.654 [lineCaptureHoming:Science:Read_Oil] Stopped 2025-09-20T19:56:35.654Z,1758398195.654 [lineCaptureHoming:Science:F] Stopped 2025-09-20T19:56:35.654Z,1758398195.654 [lineCaptureHoming:Science:E] Running Loop=1 2025-09-20T19:56:35.655Z,1758398195.655 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2025-09-20T19:56:35.655Z,1758398195.655 [lineCaptureHoming:Science:D] Stopped 2025-09-20T19:56:35.655Z,1758398195.655 [lineCaptureHoming:Science:C] Running Loop=1 2025-09-20T19:56:35.656Z,1758398195.656 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2025-09-20T19:56:35.656Z,1758398195.656 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2025-09-20T19:56:35.656Z,1758398195.656 [lineCaptureHoming:Science:B] Running Loop=1 2025-09-20T19:56:35.657Z,1758398195.657 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2025-09-20T19:56:35.657Z,1758398195.657 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2025-09-20T19:56:35.657Z,1758398195.657 [lineCaptureHoming:Science:A] Stopped 2025-09-20T19:56:36.173Z,1758398196.173 [lineCaptureHoming:MicromodemComms] Stopped 2025-09-20T19:56:36.173Z,1758398196.173 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-09-20T19:56:36.173Z,1758398196.173 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-09-20T19:56:36.173Z,1758398196.173 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-09-20T19:56:36.173Z,1758398196.173 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-09-20T19:56:36.174Z,1758398196.174 [lineCaptureHoming:D] Stopped 2025-09-20T19:56:36.174Z,1758398196.174 [lineCaptureHoming:E] Running Loop=1 2025-09-20T19:56:36.546Z,1758398196.546 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-09-20T19:56:36.546Z,1758398196.546 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-09-20T19:56:36.546Z,1758398196.546 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-09-20T19:56:36.546Z,1758398196.546 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-09-20T19:56:36.547Z,1758398196.547 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-09-20T19:56:36.548Z,1758398196.548 [lineCaptureHoming:E] Stopped 2025-09-20T19:56:36.548Z,1758398196.548 [lineCaptureHoming:G] Running Loop=1 2025-09-20T19:56:36.612Z,1758398196.612 [WetLabsBB2FL](INFO): Powering up 2025-09-20T19:56:36.972Z,1758398196.972 [lineCaptureHoming:G] Stopped 2025-09-20T19:56:36.972Z,1758398196.972 [lineCaptureHoming:H] Running Loop=1 2025-09-20T19:56:37.354Z,1758398197.354 [lineCaptureHoming:H] Stopped 2025-09-20T19:56:37.371Z,1758398197.371 [lineCaptureHoming:L] Running Loop=1 2025-09-20T19:56:37.754Z,1758398197.754 [lineCaptureHoming:L] Stopped 2025-09-20T19:56:37.754Z,1758398197.754 [lineCaptureHoming:M] Running Loop=1 2025-09-20T19:56:38.160Z,1758398198.160 [lineCaptureHoming:M] Stopped 2025-09-20T19:56:38.160Z,1758398198.160 [lineCaptureHoming:N] Running Loop=1 2025-09-20T19:56:38.576Z,1758398198.576 [lineCaptureHoming:N] Stopped 2025-09-20T19:56:38.576Z,1758398198.576 [lineCaptureHoming:O] Running Loop=1 2025-09-20T19:56:38.720Z,1758398198.720 [CTD_Seabird](ERROR): Failed to parse device response: 2025-09-20T19:56:38.997Z,1758398198.997 [lineCaptureHoming:O] Stopped 2025-09-20T19:56:38.997Z,1758398198.997 [lineCaptureHoming:P] Running Loop=1 2025-09-20T19:56:39.371Z,1758398199.371 [lineCaptureHoming:P] Stopped 2025-09-20T19:56:39.371Z,1758398199.371 [lineCaptureHoming:Q] Running Loop=1 2025-09-20T19:56:39.776Z,1758398199.776 [lineCaptureHoming:Q] Stopped 2025-09-20T19:56:39.776Z,1758398199.776 [lineCaptureHoming:U] Running Loop=1 2025-09-20T19:56:40.191Z,1758398200.191 [lineCaptureHoming:U] Stopped 2025-09-20T19:56:40.191Z,1758398200.191 [lineCaptureHoming:StartingMission] Running Loop=1 2025-09-20T19:56:40.191Z,1758398200.191 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission 2025-09-20T19:56:40.612Z,1758398200.612 [lineCaptureHoming:NeedComms] Running Loop=1 2025-09-20T19:56:40.613Z,1758398200.613 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms 2025-09-20T19:56:40.613Z,1758398200.613 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1 2025-09-20T19:56:40.613Z,1758398200.613 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-09-20T19:56:40.613Z,1758398200.613 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-09-20T19:56:40.613Z,1758398200.613 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-09-20T19:56:40.614Z,1758398200.614 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-09-20T19:56:40.614Z,1758398200.614 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2025-09-20T19:56:40.614Z,1758398200.614 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-09-20T19:56:40.619Z,1758398200.619 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-09-20T19:56:40.619Z,1758398200.619 [lineCaptureHoming:NeedComms:A] Running Loop=1 2025-09-20T19:56:40.621Z,1758398200.621 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1758397771.000000 second since 1970/01/01T00:00:00Z 2025-09-20T19:56:40.621Z,1758398200.621 [lineCaptureHoming:NeedComms:A] Stopped 2025-09-20T19:56:48.556Z,1758398208.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:56:49.560Z,1758398209.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:57:07.320Z,1758398227.320 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-20T19:57:19.689Z,1758398239.689 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:57:20.692Z,1758398240.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:57:35.960Z,1758398255.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:57:36.029Z,1758398256.029 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:36.085Z,1758398256.085 [DAT](INFO): entering command mode 2025-09-20T19:57:36.280Z,1758398256.280 [DAT](INFO): DAT read: 2025-09-20T19:57:36.280Z,1758398256.280 [DAT](INFO): DAT read: use:105> 2025-09-20T19:57:36.280Z,1758398256.280 [DAT](INFO): unknown deviceResponse_: use:105> 2025-09-20T19:57:36.281Z,1758398256.281 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:36.281Z,1758398256.281 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:36.532Z,1758398256.532 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:36.532Z,1758398256.532 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:36.785Z,1758398256.785 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:36.785Z,1758398256.785 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:37.036Z,1758398257.036 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:37.036Z,1758398257.036 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:37.288Z,1758398257.288 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:37.288Z,1758398257.288 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:37.540Z,1758398257.540 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:37.540Z,1758398257.540 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:37.792Z,1758398257.792 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:37.793Z,1758398257.793 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:38.044Z,1758398258.044 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:38.044Z,1758398258.044 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:38.296Z,1758398258.296 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:38.296Z,1758398258.296 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:38.548Z,1758398258.548 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:38.548Z,1758398258.548 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:38.800Z,1758398258.800 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:38.800Z,1758398258.800 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:39.052Z,1758398259.052 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:39.052Z,1758398259.052 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:39.304Z,1758398259.304 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:39.304Z,1758398259.304 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:39.556Z,1758398259.556 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:39.556Z,1758398259.556 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:39.808Z,1758398259.808 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:39.808Z,1758398259.808 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:40.060Z,1758398260.060 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:40.060Z,1758398260.060 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:40.312Z,1758398260.312 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:40.312Z,1758398260.312 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:40.564Z,1758398260.564 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:40.564Z,1758398260.564 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:40.816Z,1758398260.816 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:40.816Z,1758398260.816 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:41.068Z,1758398261.068 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:41.068Z,1758398261.068 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:41.320Z,1758398261.320 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:41.320Z,1758398261.320 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:41.572Z,1758398261.572 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:41.572Z,1758398261.572 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:41.825Z,1758398261.825 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:41.825Z,1758398261.825 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:42.076Z,1758398262.076 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:42.077Z,1758398262.077 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:42.328Z,1758398262.328 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:42.328Z,1758398262.328 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:42.580Z,1758398262.580 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:42.580Z,1758398262.580 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:42.832Z,1758398262.832 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:42.832Z,1758398262.832 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:43.084Z,1758398263.084 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:43.084Z,1758398263.084 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:43.336Z,1758398263.336 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:43.336Z,1758398263.336 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:43.588Z,1758398263.588 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:43.588Z,1758398263.588 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:43.840Z,1758398263.840 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:43.840Z,1758398263.840 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:44.092Z,1758398264.092 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:44.092Z,1758398264.092 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:44.344Z,1758398264.344 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:44.344Z,1758398264.344 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:44.596Z,1758398264.596 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:44.596Z,1758398264.596 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:44.848Z,1758398264.848 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:44.848Z,1758398264.848 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:45.100Z,1758398265.100 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:45.100Z,1758398265.100 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:45.352Z,1758398265.352 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:45.352Z,1758398265.352 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:45.604Z,1758398265.604 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:45.604Z,1758398265.604 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:45.856Z,1758398265.856 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:45.856Z,1758398265.856 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:46.108Z,1758398266.108 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:46.108Z,1758398266.108 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:46.361Z,1758398266.361 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:46.362Z,1758398266.362 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:46.612Z,1758398266.612 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:46.612Z,1758398266.612 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:46.865Z,1758398266.865 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:46.865Z,1758398266.865 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:47.116Z,1758398267.116 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:47.116Z,1758398267.116 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:47.369Z,1758398267.369 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:47.369Z,1758398267.369 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:47.620Z,1758398267.620 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:47.620Z,1758398267.620 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:47.873Z,1758398267.873 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:47.874Z,1758398267.874 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:48.124Z,1758398268.124 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:48.124Z,1758398268.124 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:48.377Z,1758398268.377 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:48.377Z,1758398268.377 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:48.630Z,1758398268.630 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:48.630Z,1758398268.630 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:48.880Z,1758398268.880 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:48.881Z,1758398268.881 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:49.132Z,1758398269.132 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:49.132Z,1758398269.132 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:49.384Z,1758398269.384 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:49.384Z,1758398269.384 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:49.636Z,1758398269.636 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:49.636Z,1758398269.636 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:49.888Z,1758398269.888 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:49.888Z,1758398269.888 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:50.140Z,1758398270.140 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:50.140Z,1758398270.140 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:50.392Z,1758398270.392 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:50.392Z,1758398270.392 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:50.646Z,1758398270.646 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:50.647Z,1758398270.647 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:50.815Z,1758398270.815 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:57:50.896Z,1758398270.896 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:50.896Z,1758398270.896 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:51.151Z,1758398271.151 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:51.151Z,1758398271.151 [DAT](DEBUG): checking for command mode acknowledgment 2025-09-20T19:57:51.152Z,1758398271.152 [DAT](FAULT): failed to enter command mode 2025-09-20T19:57:51.400Z,1758398271.400 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:51.451Z,1758398271.451 [DAT](INFO): entering command mode 2025-09-20T19:57:51.652Z,1758398271.652 [DAT](INFO): DAT read: user:105> 2025-09-20T19:57:51.653Z,1758398271.653 [DAT](INFO): DAT read: Command '+++' not found 2025-09-20T19:57:51.653Z,1758398271.653 [DAT](INFO): DAT read: Error 2025-09-20T19:57:51.654Z,1758398271.654 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:51.654Z,1758398271.654 [DAT](INFO): setting remote address to 0 2025-09-20T19:57:51.820Z,1758398271.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:57:51.904Z,1758398271.904 [DAT](INFO): DAT read: user:106> 2025-09-20T19:57:51.905Z,1758398271.905 [DAT](INFO): DAT read: RemoteAddr | 0 2025-09-20T19:57:51.905Z,1758398271.905 [DAT](INFO): set remote address to 0 2025-09-20T19:57:51.905Z,1758398271.905 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:57:51.906Z,1758398271.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:57:52.156Z,1758398272.156 [DAT](INFO): DAT read: user:107> 2025-09-20T19:57:52.157Z,1758398272.157 [DAT](INFO): DAT read: Tx time:19:57:54.8044 2025-09-20T19:57:52.157Z,1758398272.157 [DAT](INFO): Ping request sent. 2025-09-20T19:57:52.157Z,1758398272.157 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:57:52.157Z,1758398272.157 [DAT](INFO): publishing transmit ping time 2025-09-20T19:57:52.158Z,1758398272.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-09-20T19:57:52.408Z,1758398272.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250846 2025-09-20T19:57:52.663Z,1758398272.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505404 2025-09-20T19:57:52.912Z,1758398272.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754818 2025-09-20T19:57:53.164Z,1758398273.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007168 2025-09-20T19:57:53.416Z,1758398273.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258861 2025-09-20T19:57:53.668Z,1758398273.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510961 2025-09-20T19:57:53.920Z,1758398273.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762896 2025-09-20T19:57:54.172Z,1758398274.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015022 2025-09-20T19:57:54.424Z,1758398274.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266817 2025-09-20T19:57:54.679Z,1758398274.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521492 2025-09-20T19:57:54.931Z,1758398274.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773904 2025-09-20T19:57:55.180Z,1758398275.180 [DAT](INFO): DAT read: Rx Time:19:57:57.3723 2025-09-20T19:57:55.180Z,1758398275.180 [DAT](INFO): Rx dataTimestamp_ set to:1758398275.180181 2025-09-20T19:57:55.181Z,1758398275.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023901 2025-09-20T19:57:55.432Z,1758398275.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274920 2025-09-20T19:57:55.689Z,1758398275.689 [DAT](INFO): DAT read: 19:57:57.3723 LVL= 26064, 31873, 25474, 32755, AGC= 66, IDX= 265,-0.12, 1.080,-0.822, 0.879, 0.433, PHS= 0.749,-1.209, 0.402, RAW= 140.4, 0.6, CAL= 140.4, 1.1, ROT= 9.6, -1.1 2025-09-20T19:57:55.690Z,1758398275.690 [DAT](INFO): got valid direction response: 19:57:57.3723 LVL= 26064, 31873, 25474, 32755, AGC= 66, IDX= 265,-0.12, 1.080,-0.822, 0.879, 0.433, PHS= 0.749,-1.209, 0.402, RAW= 140.4, 0.6, CAL= 140.4, 1.1, ROT= 9.6, -1.1 2025-09-20T19:57:55.692Z,1758398275.692 [DAT](INFO): DAT read: Bearing 92.6, -14.7 (Local) 2025-09-20T19:57:55.692Z,1758398275.692 [DAT](INFO): Local bearing/azimuth received: Bearing 92.6, -14.7 (Local) 2025-09-20T19:57:55.693Z,1758398275.693 [DAT](INFO): DAT read: Range 11 to 50 : 122.7 m (Round-trip 163.7 ms) speed 0.6 m/s 2025-09-20T19:57:55.694Z,1758398275.694 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:57:55.695Z,1758398275.695 [DAT](INFO): direction in FSK: [0.985814,0.166738,0.019197] 2025-09-20T19:57:55.695Z,1758398275.695 [DAT](INFO): publishing direction and range info 2025-09-20T19:58:08.143Z,1758398288.143 [CTD_Seabird](ERROR): Failed to parse device response: 41,4913.52 2025-09-20T19:58:21.944Z,1758398301.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:58:22.947Z,1758398302.947 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:58:36.184Z,1758398316.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:58:36.273Z,1758398316.273 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:58:36.273Z,1758398316.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:58:36.524Z,1758398316.524 [DAT](INFO): DAT read: user:108> 2025-09-20T19:58:36.525Z,1758398316.525 [DAT](INFO): DAT read: Tx time:19:58:39.1543 2025-09-20T19:58:36.525Z,1758398316.525 [DAT](INFO): Ping request sent. 2025-09-20T19:58:36.525Z,1758398316.525 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:58:36.525Z,1758398316.525 [DAT](INFO): publishing transmit ping time 2025-09-20T19:58:36.526Z,1758398316.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-09-20T19:58:36.777Z,1758398316.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251906 2025-09-20T19:58:37.028Z,1758398317.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503378 2025-09-20T19:58:37.281Z,1758398317.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755651 2025-09-20T19:58:37.532Z,1758398317.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006937 2025-09-20T19:58:37.785Z,1758398317.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259675 2025-09-20T19:58:38.036Z,1758398318.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510888 2025-09-20T19:58:38.289Z,1758398318.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763994 2025-09-20T19:58:38.540Z,1758398318.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014947 2025-09-20T19:58:38.793Z,1758398318.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267153 2025-09-20T19:58:39.044Z,1758398319.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519046 2025-09-20T19:58:39.296Z,1758398319.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770925 2025-09-20T19:58:39.548Z,1758398319.548 [DAT](INFO): DAT read: Rx Time:19:58:41.6808 2025-09-20T19:58:39.548Z,1758398319.548 [DAT](INFO): Rx dataTimestamp_ set to:1758398319.548158 2025-09-20T19:58:39.549Z,1758398319.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023979 2025-09-20T19:58:39.801Z,1758398319.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275533 2025-09-20T19:58:40.057Z,1758398320.057 [DAT](INFO): DAT read: 19:58:41.6808 LVL= 11936, 12737, 11730, 14899, AGC= 66, IDX= 17,-0.21,-2.263, 2.176,-2.718, 3.112, PHS= 1.010,-0.891, 0.409, RAW= 132.0, -6.3, CAL= 132.5, -6.6, ROT= 17.5, 6.6 2025-09-20T19:58:40.058Z,1758398320.058 [DAT](INFO): got valid direction response: 19:58:41.6808 LVL= 11936, 12737, 11730, 14899, AGC= 66, IDX= 17,-0.21,-2.263, 2.176,-2.718, 3.112, PHS= 1.010,-0.891, 0.409, RAW= 132.0, -6.3, CAL= 132.5, -6.6, ROT= 17.5, 6.6 2025-09-20T19:58:40.070Z,1758398320.070 [DAT](INFO): DAT read: Bearing 68.9, -2.0 (Local) 2025-09-20T19:58:40.071Z,1758398320.070 [DAT](INFO): Local bearing/azimuth received: Bearing 68.9, -2.0 (Local) 2025-09-20T19:58:40.072Z,1758398320.072 [DAT](INFO): DAT read: Range 11 to 50 : 91.7 m (Round-trip 122.3 ms) speed 0.5 m/s 2025-09-20T19:58:40.073Z,1758398320.073 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T19:58:40.074Z,1758398320.074 [DAT](INFO): direction in FSK: [0.947396,0.298713,-0.114937] 2025-09-20T19:58:40.074Z,1758398320.074 [DAT](INFO): publishing direction and range info 2025-09-20T19:58:52.138Z,1758398332.138 [lineCaptureHoming:NeedComms:C] Running Loop=1 2025-09-20T19:58:52.562Z,1758398332.562 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-09-20T19:58:52.707Z,1758398332.707 [Radio_Surface](INFO): Powering up 2025-09-20T19:58:53.068Z,1758398333.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:58:53.372Z,1758398333.372 [lineCaptureHoming:MicromodemComms] Stopped 2025-09-20T19:58:53.372Z,1758398333.372 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-09-20T19:58:53.372Z,1758398333.372 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-09-20T19:58:53.372Z,1758398333.372 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-09-20T19:58:53.372Z,1758398333.372 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-09-20T19:58:54.071Z,1758398334.071 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:58:57.959Z,1758398337.959 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-09-20T19:58:57.960Z,1758398337.960 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-09-20T19:59:24.203Z,1758398364.203 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:59:25.207Z,1758398365.207 [DataOverHttps](INFO): Radio surface powered ON. 2025-09-20T19:59:25.207Z,1758398365.207 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T19:59:36.189Z,1758398376.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T19:59:36.300Z,1758398376.300 [DAT](DEBUG): Acoustic response timeout 2025-09-20T19:59:36.300Z,1758398376.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T19:59:36.556Z,1758398376.556 [DAT](INFO): DAT read: user:109> 2025-09-20T19:59:36.557Z,1758398376.557 [DAT](INFO): DAT read: Tx time:19:59:39.2042 2025-09-20T19:59:36.557Z,1758398376.557 [DAT](INFO): Ping request sent. 2025-09-20T19:59:36.557Z,1758398376.557 [DAT](INFO): transmitted an acoustic signal 2025-09-20T19:59:36.557Z,1758398376.557 [DAT](INFO): publishing transmit ping time 2025-09-20T19:59:36.558Z,1758398376.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-09-20T19:59:36.808Z,1758398376.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251310 2025-09-20T19:59:37.060Z,1758398377.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503026 2025-09-20T19:59:37.312Z,1758398377.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754826 2025-09-20T19:59:37.564Z,1758398377.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854 2025-09-20T19:59:37.816Z,1758398377.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946 2025-09-20T19:59:38.068Z,1758398378.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511360 2025-09-20T19:59:38.320Z,1758398378.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762843 2025-09-20T19:59:38.573Z,1758398378.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015694 2025-09-20T19:59:38.824Z,1758398378.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266926 2025-09-20T19:59:39.076Z,1758398379.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518919 2025-09-20T19:59:39.328Z,1758398379.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770935 2025-09-20T19:59:39.580Z,1758398379.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022929 2025-09-20T19:59:39.832Z,1758398379.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274945 2025-09-20T19:59:40.084Z,1758398380.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526859 2025-09-20T19:59:40.336Z,1758398380.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778900 2025-09-20T19:59:40.588Z,1758398380.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031204 2025-09-20T19:59:40.840Z,1758398380.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283149 2025-09-20T19:59:41.092Z,1758398381.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534999 2025-09-20T19:59:41.344Z,1758398381.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786794 2025-09-20T19:59:41.596Z,1758398381.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038888 2025-09-20T19:59:41.851Z,1758398381.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294008 2025-09-20T19:59:42.100Z,1758398382.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542835 2025-09-20T19:59:42.352Z,1758398382.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794905 2025-09-20T19:59:42.604Z,1758398382.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047266 2025-09-20T19:59:42.856Z,1758398382.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298842 2025-09-20T19:59:43.108Z,1758398383.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550947 2025-09-20T19:59:43.360Z,1758398383.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802904 2025-09-20T19:59:43.612Z,1758398383.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054801 2025-09-20T19:59:43.864Z,1758398383.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306868 2025-09-20T19:59:44.117Z,1758398384.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559689 2025-09-20T19:59:44.368Z,1758398384.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810849 2025-09-20T19:59:44.621Z,1758398384.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063819 2025-09-20T19:59:44.872Z,1758398384.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314880 2025-09-20T19:59:45.125Z,1758398385.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567242 2025-09-20T19:59:45.376Z,1758398385.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818860 2025-09-20T19:59:45.629Z,1758398385.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071652 2025-09-20T19:59:45.880Z,1758398385.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322978 2025-09-20T19:59:46.133Z,1758398386.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575403 2025-09-20T19:59:46.384Z,1758398386.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826905 2025-09-20T19:59:46.636Z,1758398386.636 [DAT](INFO): Reached modem response timeout 2025-09-20T19:59:48.904Z,1758398388.904 [DAT](INFO): DAT read: Response Not Received 2025-09-20T19:59:48.904Z,1758398388.904 [DAT](INFO): response not received 2025-09-20T19:59:48.904Z,1758398388.904 [DAT](ERROR): No response from remote modem. 2025-09-20T19:59:53.135Z,1758398393.135 [NAL9602](INFO): SBD MO Status=2, MOMSN=1941, MT Status=2, MTMSN=0 2025-09-20T19:59:53.136Z,1758398393.136 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-09-20T19:59:55.335Z,1758398395.335 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T19:59:55.573Z,1758398395.573 [CTD_Seabird](ERROR): Failed to parse device response: 0.08,4.33261,7135.77 2025-09-20T19:59:56.339Z,1758398396.339 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:00:26.459Z,1758398426.459 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T20:00:27.463Z,1758398427.463 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:00:35.565Z,1758398435.565 [NAL9602](INFO): SBD MO Status=2, MOMSN=1941, MT Status=2, MTMSN=0 2025-09-20T20:00:35.565Z,1758398435.565 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-09-20T20:00:36.390Z,1758398436.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T20:00:36.632Z,1758398436.632 [DAT](DEBUG): Acoustic response timeout 2025-09-20T20:00:36.632Z,1758398436.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T20:00:36.884Z,1758398436.884 [DAT](INFO): DAT read: user:110> 2025-09-20T20:00:36.885Z,1758398436.885 [DAT](INFO): DAT read: Tx time:20:00:39.5041 2025-09-20T20:00:36.885Z,1758398436.885 [DAT](INFO): Ping request sent. 2025-09-20T20:00:36.885Z,1758398436.885 [DAT](INFO): transmitted an acoustic signal 2025-09-20T20:00:36.885Z,1758398436.885 [DAT](INFO): publishing transmit ping time 2025-09-20T20:00:36.886Z,1758398436.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-09-20T20:00:37.136Z,1758398437.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251072 2025-09-20T20:00:37.388Z,1758398437.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502848 2025-09-20T20:00:37.640Z,1758398437.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754965 2025-09-20T20:00:37.892Z,1758398437.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006919 2025-09-20T20:00:38.144Z,1758398438.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258877 2025-09-20T20:00:38.396Z,1758398438.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510999 2025-09-20T20:00:38.651Z,1758398438.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765021 2025-09-20T20:00:38.900Z,1758398438.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863 2025-09-20T20:00:39.152Z,1758398439.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266892 2025-09-20T20:00:39.404Z,1758398439.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518881 2025-09-20T20:00:39.656Z,1758398439.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770926 2025-09-20T20:00:39.908Z,1758398439.908 [DAT](INFO): DAT read: Rx Time:20:00:42.0165 2025-09-20T20:00:39.909Z,1758398439.909 [DAT](INFO): Rx dataTimestamp_ set to:1758398439.908450 2025-09-20T20:00:39.909Z,1758398439.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024234 2025-09-20T20:00:40.160Z,1758398440.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274906 2025-09-20T20:00:40.417Z,1758398440.417 [DAT](INFO): DAT read: 20:00:42.0165 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 274,-0.19, 0.454, 1.004,-0.264, 0.855, PHS=-0.299, 0.194,-1.164, RAW= 9.0, 20.7, CAL= 8.5, 25.1, ROT= 141.5, -25.1 2025-09-20T20:00:40.418Z,1758398440.418 [DAT](INFO): got valid direction response: 20:00:42.0165 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 274,-0.19, 0.454, 1.004,-0.264, 0.855, PHS=-0.299, 0.194,-1.164, RAW= 9.0, 20.7, CAL= 8.5, 25.1, ROT= 141.5, -25.1 2025-09-20T20:00:40.419Z,1758398440.419 [DAT](INFO): DAT read: Bearing 224.6, 39.7 (Local) 2025-09-20T20:00:40.420Z,1758398440.420 [DAT](INFO): Local bearing/azimuth received: Bearing 224.6, 39.7 (Local) 2025-09-20T20:00:40.421Z,1758398440.421 [DAT](INFO): DAT read: Range 11 to 50 : 81.1 m (Round-trip 108.2 ms) speed 0.1 m/s 2025-09-20T20:00:40.422Z,1758398440.422 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T20:00:40.423Z,1758398440.423 [DAT](INFO): direction in FSK: [-0.708706,0.563730,0.424199] 2025-09-20T20:00:40.423Z,1758398440.423 [DAT](INFO): publishing direction and range info 2025-09-20T20:00:52.934Z,1758398452.934 [NAL9602](INFO): SBD MO Status=2, MOMSN=1941, MT Status=2, MTMSN=0 2025-09-20T20:00:52.934Z,1758398452.934 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-09-20T20:00:57.583Z,1758398457.583 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T20:00:58.587Z,1758398458.587 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:01:28.708Z,1758398488.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-09-20T20:01:29.711Z,1758398489.711 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:01:36.597Z,1758398496.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T20:01:36.677Z,1758398496.677 [DAT](DEBUG): Acoustic response timeout 2025-09-20T20:01:36.678Z,1758398496.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T20:01:36.928Z,1758398496.928 [DAT](INFO): DAT read: user:111> 2025-09-20T20:01:36.929Z,1758398496.929 [DAT](INFO): DAT read: Tx time:20:01:39.5540 2025-09-20T20:01:36.929Z,1758398496.929 [DAT](INFO): Ping request sent. 2025-09-20T20:01:36.929Z,1758398496.929 [DAT](INFO): transmitted an acoustic signal 2025-09-20T20:01:36.929Z,1758398496.929 [DAT](INFO): publishing transmit ping time 2025-09-20T20:01:36.930Z,1758398496.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-09-20T20:01:37.181Z,1758398497.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251571 2025-09-20T20:01:37.432Z,1758398497.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502951 2025-09-20T20:01:37.684Z,1758398497.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932 2025-09-20T20:01:37.936Z,1758398497.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006855 2025-09-20T20:01:38.188Z,1758398498.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259220 2025-09-20T20:01:38.440Z,1758398498.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510891 2025-09-20T20:01:38.694Z,1758398498.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764688 2025-09-20T20:01:38.944Z,1758398498.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014847 2025-09-20T20:01:39.196Z,1758398499.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266885 2025-09-20T20:01:39.464Z,1758398499.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534896 2025-09-20T20:01:39.716Z,1758398499.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786799 2025-09-20T20:01:39.935Z,1758398499.935 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002937 2025-09-20T20:01:39.968Z,1758398499.968 [DAT](INFO): DAT read: Rx Time:20:01:42.0742 2025-09-20T20:01:39.968Z,1758398499.968 [DAT](INFO): Rx dataTimestamp_ set to:1758398499.968197 2025-09-20T20:01:39.969Z,1758398499.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039937 2025-09-20T20:01:40.220Z,1758398500.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290919 2025-09-20T20:01:40.473Z,1758398500.473 [DAT](INFO): DAT read: Range 11 to 50 : 87.0 m (Round-trip 116.1 ms) speed -0.4 m/s 2025-09-20T20:01:40.473Z,1758398500.473 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-09-20T20:01:40.935Z,1758398500.935 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:01:53.091Z,1758398513.091 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:02:12.411Z,1758398532.411 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:02:21.551Z,1758398541.551 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:02:30.587Z,1758398550.587 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:02:36.824Z,1758398556.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T20:02:36.964Z,1758398556.964 [DAT](DEBUG): Acoustic response timeout 2025-09-20T20:02:36.964Z,1758398556.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T20:02:37.216Z,1758398557.216 [DAT](INFO): DAT read: user:112> 2025-09-20T20:02:37.217Z,1758398557.217 [DAT](INFO): DAT read: Tx time:20:02:39.8538 2025-09-20T20:02:37.217Z,1758398557.217 [DAT](INFO): Ping request sent. 2025-09-20T20:02:37.217Z,1758398557.217 [DAT](INFO): transmitted an acoustic signal 2025-09-20T20:02:37.217Z,1758398557.217 [DAT](INFO): publishing transmit ping time 2025-09-20T20:02:37.218Z,1758398557.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-09-20T20:02:37.468Z,1758398557.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250842 2025-09-20T20:02:37.720Z,1758398557.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502822 2025-09-20T20:02:37.976Z,1758398557.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758857 2025-09-20T20:02:38.228Z,1758398558.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010869 2025-09-20T20:02:38.480Z,1758398558.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262860 2025-09-20T20:02:38.732Z,1758398558.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514830 2025-09-20T20:02:38.984Z,1758398558.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766874 2025-09-20T20:02:39.248Z,1758398559.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029425 2025-09-20T20:02:39.496Z,1758398559.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279045 2025-09-20T20:02:39.583Z,1758398559.583 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:02:39.749Z,1758398559.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531324 2025-09-20T20:02:40.000Z,1758398560.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782883 2025-09-20T20:02:40.267Z,1758398560.267 [DAT](INFO): DAT read: 20:02:42.3841 LVL= 5536, 7377, 5330, 9011, AGC= 72, IDX= 25,-0.29,-0.958,-2.875,-2.118,-2.273, PHS= 1.417,-0.557, 0.111, RAW= 109.4, -11.2, CAL= 108.6, -12.0, ROT= 41.4, 12.0 2025-09-20T20:02:40.268Z,1758398560.268 [DAT](INFO): got valid direction response: 20:02:42.3841 LVL= 5536, 7377, 5330, 9011, AGC= 72, IDX= 25,-0.29,-0.958,-2.875,-2.118,-2.273, PHS= 1.417,-0.557, 0.111, RAW= 109.4, -11.2, CAL= 108.6, -12.0, ROT= 41.4, 12.0 2025-09-20T20:02:40.269Z,1758398560.269 [DAT](INFO): DAT read: Rx Time:20:02:42.3841 2025-09-20T20:02:40.270Z,1758398560.270 [DAT](INFO): Rx dataTimestamp_ set to:1758398560.269316 2025-09-20T20:02:40.270Z,1758398560.270 [DAT](INFO): DAT read: $Low SNR acquisition 2025-09-20T20:02:40.271Z,1758398560.271 [DAT](INFO): Received low SNR in chirp 2025-09-20T20:02:40.283Z,1758398560.283 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-09-20T20:02:40.284Z,1758398560.284 [DAT](INFO): direction in FSK: [0.733719,0.646861,-0.207912] 2025-09-20T20:02:47.308Z,1758398567.308 [DAT](INFO): Reached modem response timeout 2025-09-20T20:02:48.831Z,1758398568.831 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:02:49.576Z,1758398569.576 [DAT](INFO): DAT read: Response Not Received 2025-09-20T20:02:49.576Z,1758398569.576 [DAT](INFO): response not received 2025-09-20T20:02:49.577Z,1758398569.577 [DAT](ERROR): No response from remote modem. 2025-09-20T20:02:57.891Z,1758398577.891 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:03:07.903Z,1758398587.903 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:03:17.055Z,1758398597.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:03:26.119Z,1758398606.119 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:03:30.112Z,1758398610.112 [NAL9602](INFO): SBD MO Status=2, MOMSN=1941, MT Status=2, MTMSN=0 2025-09-20T20:03:30.112Z,1758398610.112 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-09-20T20:03:35.023Z,1758398615.023 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:03:37.006Z,1758398617.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T20:03:37.240Z,1758398617.240 [DAT](DEBUG): Acoustic response timeout 2025-09-20T20:03:37.240Z,1758398617.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T20:03:37.492Z,1758398617.492 [DAT](INFO): DAT read: 2025-09-20T20:03:37.492Z,1758398617.492 [DAT](INFO): DAT read: Tx time:20:03:40.1037 2025-09-20T20:03:37.493Z,1758398617.493 [DAT](INFO): Ping request sent. 2025-09-20T20:03:37.493Z,1758398617.493 [DAT](INFO): transmitted an acoustic signal 2025-09-20T20:03:37.493Z,1758398617.493 [DAT](INFO): publishing transmit ping time 2025-09-20T20:03:37.494Z,1758398617.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-09-20T20:03:37.744Z,1758398617.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251097 2025-09-20T20:03:37.996Z,1758398617.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503110 2025-09-20T20:03:38.248Z,1758398618.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755035 2025-09-20T20:03:38.500Z,1758398618.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007134 2025-09-20T20:03:38.752Z,1758398618.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259095 2025-09-20T20:03:39.004Z,1758398619.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946 2025-09-20T20:03:39.256Z,1758398619.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763104 2025-09-20T20:03:39.508Z,1758398619.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015114 2025-09-20T20:03:39.760Z,1758398619.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267169 2025-09-20T20:03:40.012Z,1758398620.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519107 2025-09-20T20:03:40.264Z,1758398620.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771143 2025-09-20T20:03:40.518Z,1758398620.518 [DAT](INFO): DAT read: Rx Time:20:03:42.6456 2025-09-20T20:03:40.519Z,1758398620.519 [DAT](INFO): Rx dataTimestamp_ set to:1758398620.518521 2025-09-20T20:03:40.519Z,1758398620.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026573 2025-09-20T20:03:40.768Z,1758398620.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275293 2025-09-20T20:03:41.021Z,1758398621.021 [DAT](INFO): DAT read: Range 11 to 50 : 103.2 m (Round-trip 137.7 ms) speed 0.1 m/s 2025-09-20T20:03:41.021Z,1758398621.021 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-09-20T20:03:44.371Z,1758398624.371 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:03:51.918Z,1758398631.918 [NAL9602](INFO): SBD MO Status=0, MOMSN=1941, MT Status=0, MTMSN=0 2025-09-20T20:03:51.918Z,1758398631.918 [NAL9602](INFO): No messages in MT queue 2025-09-20T20:03:53.131Z,1758398633.131 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200352.00,A,3646.74737,N,12151.52349,W,0.700,62.85,200925,,,A*40 2025-09-20T20:03:53.133Z,1758398633.133 [NAL9602](INFO): GPS fix at 20250920T200352: (36.779123, -121.858725) 2025-09-20T20:03:53.163Z,1758398633.163 [lineCaptureHoming:NeedComms:C] Stopped 2025-09-20T20:03:53.164Z,1758398633.164 [lineCaptureHoming:NeedComms:D] Running Loop=1 2025-09-20T20:03:53.415Z,1758398633.415 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-09-20T20:03:53.566Z,1758398633.566 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-09-20T20:04:00.715Z,1758398640.715 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250920T192654/Courier0024.lzma 2025-09-20T20:04:01.717Z,1758398641.717 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Courier0024.lzma.bak 2025-09-20T20:04:01.717Z,1758398641.717 [DataOverHttps](INFO): SBD MOMSN=26048130 2025-09-20T20:04:19.835Z,1758398659.835 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250920T192654/Courier0030.lzma 2025-09-20T20:04:20.837Z,1758398660.837 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Courier0030.lzma.bak 2025-09-20T20:04:20.837Z,1758398660.837 [DataOverHttps](INFO): SBD MOMSN=26048133 2025-09-20T20:04:25.488Z,1758398665.488 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-20T20:04:37.238Z,1758398677.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-09-20T20:04:37.485Z,1758398677.485 [DAT](DEBUG): Acoustic response timeout 2025-09-20T20:04:37.485Z,1758398677.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-09-20T20:04:37.736Z,1758398677.736 [DAT](INFO): DAT read: user:114> 2025-09-20T20:04:37.737Z,1758398677.737 [DAT](INFO): DAT read: Tx time:20:04:40.3535 2025-09-20T20:04:37.737Z,1758398677.737 [DAT](INFO): Ping request sent. 2025-09-20T20:04:37.737Z,1758398677.737 [DAT](INFO): transmitted an acoustic signal 2025-09-20T20:04:37.737Z,1758398677.737 [DAT](INFO): publishing transmit ping time 2025-09-20T20:04:37.738Z,1758398677.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-09-20T20:04:37.988Z,1758398677.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251324 2025-09-20T20:04:38.240Z,1758398678.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502834 2025-09-20T20:04:38.493Z,1758398678.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755748 2025-09-20T20:04:38.744Z,1758398678.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812 2025-09-20T20:04:38.996Z,1758398678.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259058 2025-09-20T20:04:39.248Z,1758398679.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511057 2025-09-20T20:04:39.376Z,1758398679.376 [DataOverHttps](INFO): Sending 471 bytes from file Logs/20250920T192654/Express0025.lzma 2025-09-20T20:04:39.501Z,1758398679.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763532 2025-09-20T20:04:39.752Z,1758398679.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014813 2025-09-20T20:04:40.005Z,1758398680.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267343 2025-09-20T20:04:40.256Z,1758398680.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518859 2025-09-20T20:04:40.377Z,1758398680.377 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0025.lzma.bak 2025-09-20T20:04:40.377Z,1758398680.377 [DataOverHttps](INFO): SBD MOMSN=26048136 2025-09-20T20:04:40.508Z,1758398680.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770687 2025-09-20T20:04:40.760Z,1758398680.760 [DAT](INFO): DAT read: Rx Time:20:04:42.9086 2025-09-20T20:04:40.761Z,1758398680.761 [DAT](INFO): Rx dataTimestamp_ set to:1758398680.760408 2025-09-20T20:04:40.761Z,1758398680.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024096 2025-09-20T20:04:41.012Z,1758398681.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274853 2025-09-20T20:04:41.269Z,1758398681.269 [DAT](INFO): DAT read: 20:04:42.9086 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 74, 0.47, 0.218,-0.654, 0.899, 0.477, PHS=-0.157,-1.086, 0.379, RAW= 171.2, 13.4, CAL= 171.5, 16.3, ROT= 338.5, -16.3 2025-09-20T20:04:41.270Z,1758398681.270 [DAT](INFO): got valid direction response: 20:04:42.9086 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 74, 0.47, 0.218,-0.654, 0.899, 0.477, PHS=-0.157,-1.086, 0.379, RAW= 171.2, 13.4, CAL= 171.5, 16.3, ROT= 338.5, -16.3 2025-09-20T20:04:41.272Z,1758398681.272 [DAT](INFO): DAT read: Bearing 100.3, -16.1 (Local) 2025-09-20T20:04:41.272Z,1758398681.272 [DAT](INFO): Local bearing/azimuth received: Bearing 100.3, -16.1 (Local) 2025-09-20T20:04:41.273Z,1758398681.273 [DAT](INFO): DAT read: Range 11 to 50 : 113.2 m (Round-trip 151.0 ms) speed 0.1 m/s 2025-09-20T20:04:41.274Z,1758398681.274 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-09-20T20:04:41.275Z,1758398681.275 [DAT](INFO): direction in FSK: [0.893020,-0.351770,0.280667] 2025-09-20T20:04:41.275Z,1758398681.275 [DAT](INFO): publishing direction and range info 2025-09-20T20:04:57.323Z,1758398697.323 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250920T192654/Express0028.lzma 2025-09-20T20:04:58.325Z,1758398698.325 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0028.lzma.bak 2025-09-20T20:04:58.325Z,1758398698.325 [DataOverHttps](INFO): SBD MOMSN=26048151 2025-09-20T20:05:16.835Z,1758398716.835 [DataOverHttps](INFO): Sending 293 bytes from file Logs/20250920T192654/Express0031.lzma 2025-09-20T20:05:17.837Z,1758398717.837 [DataOverHttps](INFO): Moved sent file to Logs/20250920T192654/Express0031.lzma.bak 2025-09-20T20:05:17.837Z,1758398717.837 [DataOverHttps](INFO): SBD MOMSN=26048153 2025-09-20T20:05:19.261Z,1758398719.261 [lineCaptureHoming:NeedComms:D] Stopped 2025-09-20T20:05:19.262Z,1758398719.262 [lineCaptureHoming:NeedComms:E] Running Loop=1 2025-09-20T20:05:19.644Z,1758398719.644 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-09-20T20:05:21.246Z,1758398721.246 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200520.00,A,3646.74695,N,12151.51074,W,0.078,106.08,200925,,,A*7A 2025-09-20T20:05:21.248Z,1758398721.248 [NAL9602](INFO): GPS fix at 20250920T200520: (36.779116, -121.858512) 2025-09-20T20:05:21.305Z,1758398721.305 [lineCaptureHoming:NeedComms:E] Stopped 2025-09-20T20:05:21.306Z,1758398721.306 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms 2025-09-20T20:05:21.306Z,1758398721.306 [lineCaptureHoming:NeedComms] Stopped 2025-09-20T20:05:21.306Z,1758398721.306 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms 2025-09-20T20:05:21.306Z,1758398721.306 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped 2025-09-20T20:05:21.306Z,1758398721.306 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-09-20T20:05:21.693Z,1758398721.693 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission 2025-09-20T20:05:21.693Z,1758398721.693 [lineCaptureHoming:StartingMission] Stopped 2025-09-20T20:05:21.693Z,1758398721.693 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission 2025-09-20T20:05:21.693Z,1758398721.693 [lineCaptureHoming:Z] Running Loop=1 2025-09-20T20:05:22.085Z,1758398722.085 [lineCaptureHoming:Z](IMPORTANT): Restarting logs 2025-09-20T20:05:22.085Z,1758398722.085 [lineCaptureHoming:Z] Stopped 2025-09-20T20:05:22.085Z,1758398722.085 [lineCaptureHoming:BA.Execute] Running Loop=1 2025-09-20T20:05:22.492Z,1758398722.492 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs 2025-09-20T20:05:22.492Z,1758398722.492 [lineCaptureHoming:BA.Execute] Stopped 2025-09-20T20:05:22.492Z,1758398722.492 [lineCaptureHoming:InitialDive] Running Loop=1 2025-09-20T20:05:22.492Z,1758398722.492 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive 2025-09-20T20:05:22.492Z,1758398722.492 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-09-20T20:05:22.493Z,1758398722.493 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.